Forging feeding robot

Abstract

The invention discloses a forging feeding robot, and belongs to the technical field of robots. Comprising a mechanical arm, a first motor is installed at the output end of the mechanical arm, a supporting plate is fixedly installed at the output end of the first motor, a first clamping jaw is installed on the supporting plate, an adjusting plate is rotationally connected to a supporting shaft installed at the bottom of the supporting plate, and a torsional spring used for adjusting the included angle between the supporting plate and the adjusting plate is installed on the supporting plate; the adjusting plate is provided with a driving assembly, and the output end of the driving assembly is provided with a second clamping jaw. The first clamping jaw and the second clamping jaw are vertically switched in the clamping direction and are matched with a mechanical arm to adjust the spatial position of a workpiece and a torsional spring reset mechanism, full-process automatic transfer of a feeding area, a forging area and a discharging area is achieved, and the production efficiency is improved; after the workpiece is upset, the workpiece is transferred from the first clamping jaw to the second clamping jaw, the side face of the workpiece can be formed again, the forging difficulty of the side face of the workpiece is lowered, and the universality of equipment is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more particularly to a forging feeding robot. Background Art

[0002] In the metal forging industry, loading robots serve as a critical link between billet transport and forging machine operations, and their performance directly impacts production efficiency and processing quality. Existing forging loading robots are mostly single-mode: they clamp and load the workpiece, then transfer the workpiece to another forging machine for secondary forging after roughing. However, this approach is difficult to adapt to when the workpiece requires side forging, requiring manual adjustment of the gripper angle or re-clamping, a cumbersome and inefficient operation. To address this issue, we propose a forging loading robot. Summary of the Invention

[0003] The purpose of the present invention is to provide a forging loading robot to solve the technical problem in the prior art that the existing loading robots are difficult to adapt to automatic clamping during the side forging of the workpiece, and manual adjustment of the angle of the clamping jaws or re-clamping is required, which is cumbersome and inefficient.

[0004] An embodiment of the present invention provides a forging feeding robot, comprising a robotic arm, wherein an output end of the robotic arm is provided with a first motor, an output end of the first motor is fixedly provided with a support plate, and a first clamping claw is provided on the support plate.

[0005] An adjustment plate is rotatably connected to a support shaft mounted on the bottom of the support plate, a torsion spring for adjusting the angle between the support plate and the adjustment plate is mounted on the support plate, a drive assembly is mounted on the adjustment plate, and a second clamping jaw is mounted on the output end of the drive assembly;

[0006] The first motor drives the first jaw and the second jaw to complete the workstation conversion between the loading area, the forging area and the unloading area. By rotating the support plate, the clamping surface of the workpiece between the first jaw and the second jaw can be switched, so that the first jaw and the second jaw can operate alternately.

[0007] As a further description of the above technical solution, the driving assembly includes an electric slide installed on the adjustment plate and a support frame slidably connected to the adjustment plate. The adjustment plate is installed at the output end of the electric slide, a second motor is fixedly installed on the support frame, a rotating plate is fixedly installed at the output end of the second motor, and the second clamp is installed on the rotating plate.

[0008] As a further description of the above technical solution, the rotating plate is slidably connected to an adjustment frame, and a third motor is fixedly installed on the adjustment frame;

[0009] A top block is rotatably mounted on the clamping arm of the second clamping jaw, and the third motor is fixedly connected to the top block.

[0010] As a further description of the above technical solution, a limit plate is installed on the support plate, an arc groove is opened on the limit plate, and the limit column installed on the adjustment plate is inserted into the arc groove and slides.

[0011] As a further description of the above technical solution, the clamping center line of the first clamping jaw and the axis of the top block are both located on the same circumference with the center of the support shaft as the center.

[0012] As a further description of the above technical solution, the second motor drives the rotation surface of the line connecting the centers of the two top blocks to be coplanar with the line connecting the center of the top block and the center of the support shaft.

[0013] As a further description of the above technical solution, the electric slide drives the two top blocks to move in a direction parallel to the line connecting the center of the top block and the center of the support shaft.

[0014] As a further description of the above technical solution, a positioning block for adjusting the rotation limit of the plate is fixedly installed on the robotic arm.

[0015] As a further description of the above technical solution, a clamping block is fixedly installed on the clamping arm of the first clamping jaw, and a positioning groove is provided on the clamping block.

[0016] As a further description of the above technical solution, the support shaft is coaxial with the output end of the first motor.

[0017] By adopting the above technical solution, the output end of the first motor drives the support plate and the first clamping jaw to rotate to the loading area. After the lifting and feeding equipment transports the workpiece to the corresponding position of the clamping block, the clamping block of the first clamping jaw clamps the workpiece and transfers it to the forging area. The robotic arm adjusts the position of the workpiece and moves it onto the forging machine. The first clamping jaw then disengages from the workpiece and the robotic arm drives the first clamping jaw out of the forging area. After the forging machine completes forging and roughening the workpiece, the robotic arm drives the first clamping jaw into the forging area and clamps the workpiece.

[0018] The output end of the first motor drives the support plate to rotate toward one side of the adjustment plate. Under the action of the torsion spring, the adjustment plate follows the rotation until the adjustment plate abuts against the positioning block. The support plate continues to rotate, the torsion spring twists and stores energy, and the limit column slides along the arc groove until the center line connecting the top block and the support shaft coincides with the clamping center line of the first clamping jaw. At this time, the clamping directions of the first clamping jaw and the second clamping jaw are perpendicular to each other. The second clamping jaw drives the top block to clamp the primary forging surface of the workpiece. After the second clamping jaw clamps, the first clamping jaw disengages from the clamping state of the workpiece, thereby realizing the switching of the clamping surface of the workpiece.

[0019] The electric slide drives the second motor and the second clamping jaw to move, so that the workpiece clamped by the second clamping jaw extends out of the clamping arm range of the first clamping jaw. The output end of the first motor drives the support plate to rotate in the opposite direction. When the first clamping jaw leaves the unloading area, the electric slide drives the second motor, the second clamping jaw and the workpiece to return to their original position.

[0020] The output end of the second motor drives the rotating plate, the second clamping jaw and the workpiece to rotate 90 degrees, so that the third motor rotates toward the side away from the support shaft. When the output end of the first motor drives the support plate to rotate in the opposite direction, the torsion spring gradually resets until the limit column is located at one end of the arc groove, and the support plate continues to rotate in the opposite direction and pulls the limit column, the adjustment plate, the second motor, the second clamping jaw and the workpiece to rotate around the axis of the support shaft through the limit plate until the workpiece on the second clamping jaw moves into the forging area. At this time, the first clamping jaw is in the loading area, and the robotic arm adjusts the position of the workpiece so that the bottom of the workpiece is aligned with the forging area. When the forging table contacts, the forging machine rounds or flattens the side of the workpiece, thereby realizing the side shaping of the workpiece. When the workpiece is rounded, the third motor is required to intermittently drive and control the rotation of the workpiece to cooperate with the forging work of the forging machine; when the side of the workpiece needs to be shaped into a square or rectangle, after the first side is flattened, because the clamping point of the ejector block is located at the midline position of the unshaped side of the workpiece, the output end of the third motor drives the ejector block and the workpiece to rotate 90 degrees, which can realize the precise switching of the side angle to be secondary formed, reducing the difficulty of the rotation angle positioning of the secondary side forming of the workpiece;

[0021] After the forging machine has performed secondary forging on the side of the workpiece, the lifting and feeding equipment rises to transport the billet to the set area of ​​the loading area. The first clamp clamps the billet in the loading area, and the output end of the first motor drives the support plate and the first clamp to rotate toward the adjustment plate until the first clamp moves into the forging area. During the rotation process, the torsion spring will push the adjustment plate, the second motor, and the second clamp to rotate synchronously, so that the formed workpiece moves to the unloading area. The second clamp drives the top block to unfold, and the workpiece falls. The second motor drives the second clamp to rotate 90 degrees, and the third motor rotates upward, thereby keeping the clamping direction of the first clamp and the second clamp vertical again, preparing for the next workpiece transportation.

[0022] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0023] 1. The first and second clamping jaws of the present invention realize the automatic transfer of the entire process from loading area to forging area to unloading area by vertically switching the clamping direction, cooperating with the spatial position adjustment of the workpiece by the robotic arm and the torsion spring reset mechanism, thereby improving production efficiency.

[0024] 2. After the workpiece is upset, the present invention transfers it from the first clamp to the second clamp, which enables the side of the workpiece to be reshaped, thereby reducing the difficulty of forging the side of the workpiece and improving the versatility of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of a forging loading robot disclosed in a preferred embodiment of the present invention;

[0026] Figure 2This is a partial structural diagram of a forging loading robot disclosed in a preferred embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the connection structure of a support plate and an adjustment plate of a forging feeding robot disclosed in a preferred embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of a limit plate connection structure of a forging feeding robot disclosed in a preferred embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the second motor connection structure of a forging loading robot disclosed in a preferred embodiment of the present invention;

[0030] Figure 6 A diagram showing the position relationship between a first clamping jaw and a second clamping jaw of a forging loading robot disclosed in a preferred embodiment of the present invention;

[0031] Figure 7 This is a diagram of the operating areas of the first and second grippers of a forging loading robot disclosed in a preferred embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of a forging loading robot's second gripper moving to the forging area, as disclosed in a preferred embodiment of the present invention.

[0033] Explanation of the numbers in the figure: 1. Robotic arm; 2. First motor; 3. Support plate; 4. First clamp; 41. Clamping block; 42. Positioning groove; 31. Support shaft; 32. Limiting plate; 33. Arc groove; 5. Adjusting plate; 51. Limiting column; 6. Torsion spring; 7. Electric slide; 71. Support frame; 8. Second motor; 81. Rotating plate; 82. Adjusting frame; 83. Third motor; 9. Second clamp; 91. Top block; 92. Anti-slip groove; 11. Positioning block; 12. Loading area; 13. Forging area; 14. Unloading area. DETAILED DESCRIPTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0035] Reference Figures 1 to 8This embodiment discloses a forging loading robot, including a robotic arm 1, a first motor 2 is fixedly mounted on the output end of the robotic arm 1, a support plate 3 is fixedly mounted on the output end of the first motor 2, a first clamping jaw 4 is fixedly mounted on the support plate 3, a clamping block 41 is fixedly mounted on the clamping arm of the first clamping jaw 4, a positioning groove 42 for clamping and positioning the workpiece is provided on the clamping block 41, and the clamping arm of the first clamping jaw 4 controls the clamping block 41 to expand or close, thereby realizing the workpiece picking and placing operation.

[0036] Reference Figure 3 and Figure 4 A support shaft 31 is fixedly mounted on the bottom of the support plate 3. The support shaft 31 is coaxial with the output end of the first motor 2. A limit plate 32 is fixedly mounted on the support plate 3. The limit plate 32 has an arc-shaped slot 33 coaxial with the support shaft 31. An adjustment plate 5 is rotatably connected to the support shaft 31. A limit post 51 is fixedly mounted on the adjustment plate 5. The limit post 51 is inserted and slides in the arc-shaped slot 33. A torsion spring 6 is sleeved on the support shaft 31. One end of the torsion spring 6 is fixedly connected to the support plate 3 and the other end is fixedly connected to the adjustment plate 5. The torsion spring 6 is used to control the adjustment plate 5 and the support plate 3 to be in the maximum expansion state. At this time, the limit post 51 is at the end of the arc-shaped slot 33, which is used to limit the adjustment plate 5 when it is expanded to the maximum range, thereby maintaining the relative stability of the adjustment plate 5 and the support plate 3. The limit plate 32 abuts the bottom of the adjustment plate 5 and can be used to support the adjustment plate 5 and improve the stability of the adjustment plate 5.

[0037] Reference Figures 4 to 6 An electric slide 7 is installed on the adjustment plate 5, and a support frame 71 is fixedly installed on the output end of the electric slide 7. The support frame 71 is slidably connected to the adjustment plate 5 through sliding cooperation between the slider and the guide rail. A second motor 8 is fixedly installed on the support frame 71, and a rotating plate 81 is fixedly installed on the output end of the second motor 8. An adjustment frame 82 is slidably connected to the rotating plate 81, and a third motor 83 is fixedly installed on the adjustment frame 82.

[0038] A second clamping jaw 9 is fixedly mounted on the rotating plate 81. Both the first clamping jaw 4 and the second clamping jaw 9 are pneumatic clamping jaws. The clamping centerline of the second clamping jaw 9 is collinear with the axis of the output end of the second motor 8. A top block 91 is rotatably mounted on the clamping arm of the second clamping jaw 9. Two sets of top blocks 91 are coaxial. The clamping surface of the top block 91 is provided with an anti-slip groove 92 to improve the stability of the workpiece when clamping. One top block 91 is fixedly connected to the output end of the third motor 83, and the top block 91 and the output end axis of the third motor 83 are collinear. After the second clamping jaw 9 drives the top block 91 to clamp the workpiece, the output end of the second motor 8 can drive the rotating plate 81, the second clamping jaw 9 and the workpiece to rotate 90 degrees, thereby switching the surface to be processed of the workpiece to the side. The output end of the third motor 83 drives the top block 91 and the workpiece to rotate, thereby further switching the processing surface of the workpiece, which has high flexibility and versatility.

[0039] Reference Figure 6 and Figure 7 The clamping center line of the first clamping jaw 4 and the axis of the top block 91 are both located on the same circumference with the center of the support shaft 31 as the center of the circle. The second motor 8 drives the rotation surface of the line connecting the centers of the two top blocks 91 to be coplanar with the line connecting the center of the top block 91 and the center of the support shaft 31. The electric slide 7 drives the movement direction of the two top blocks 91 to be parallel to the line connecting the center of the top block 91 and the center of the support shaft 31. A positioning block 11 for adjusting the rotation limit of the adjustment plate 5 is fixedly installed on the robot arm 1.

[0040] Working principle: The output end of the first motor 2 drives the support plate 3 and the first clamping jaw 4 to rotate to the loading area 12. After the lifting and feeding equipment transports the workpiece to the corresponding position of the clamping block 41, the clamping block 41 of the first clamping jaw 4 clamps the workpiece and transfers it to the forging area 13. The robotic arm 1 adjusts the position of the workpiece and moves it to the forging machine. The first clamping jaw 4 disengages from the workpiece, and the robotic arm 1 drives the first clamping jaw 4 to disengage from the forging area 13; after the forging machine completes the forging and roughening of the workpiece, the robotic arm 1 drives the first clamping jaw 4 into the forging area 13 and clamps the workpiece.

[0041] The output end of the first motor 2 drives the support plate 3 to rotate toward one side of the adjustment plate 5. Under the action of the torsion spring 6, the adjustment plate 5 follows the rotation until the adjustment plate 5 abuts against the positioning block 11. The support plate 3 continues to rotate, the torsion spring 6 twists and stores energy, and the limit column 51 slides along the arc groove 33 until the center line connecting the top block 91 and the support shaft 31 coincides with the clamping center line of the first clamping jaw 4. At this time, the clamping directions of the first clamping jaw 4 and the second clamping jaw 9 are perpendicular to each other. The second clamping jaw 9 drives the top block 91 to clamp the primary forging surface of the workpiece. After the second clamping jaw 9 clamps, the first clamping jaw 4 disengages from the clamping state of the workpiece, thereby realizing the switching of the clamping surface of the workpiece.

[0042] The electric slide 7 drives the second motor 8 and the second clamping jaw 9 to move, so that the workpiece clamped on the second clamping jaw 9 extends out of the clamping arm range of the first clamping jaw 4. The output end of the first motor 2 drives the support plate 3 to rotate in the opposite direction. When the first clamping jaw 4 leaves the unloading area 14, the electric slide 7 drives the second motor 8, the second clamping jaw 9 and the workpiece to reset.

[0043] The output end of the second motor 8 drives the rotating plate 81, the second clamping jaw 9 and the workpiece to rotate 90 degrees, so that the third motor 83 rotates toward the side away from the support shaft 31. When the output end of the first motor 2 drives the support plate 3 to rotate in the opposite direction, the torsion spring 6 gradually resets until the limit column 51 is located at one end of the arc groove 33, and the support plate 3 continues to rotate in the opposite direction and pulls the limit column 51, the adjustment plate 5, the second motor 8, the second clamping jaw 9 and the workpiece to rotate around the axis of the support shaft 31 through the limit plate 32 until the workpiece on the second clamping jaw 9 moves into the forging area 13. At this time, the first clamping jaw 4 is in the loading area 12, and the robot arm 1 adjusts The workpiece is positioned so that the bottom of the workpiece contacts the forging table, and the forging machine rounds or flattens the side of the workpiece, thereby realizing the side shaping of the workpiece. When the workpiece is rounded, the third motor 83 is required to intermittently drive and control the rotation of the workpiece to cooperate with the forging machine forging operation; when the side of the workpiece needs to be shaped into a square or rectangle, after the side is flattened once, because the clamping point of the top block 91 is located at the midline position of the unshaped side of the workpiece, the output end of the third motor 83 drives the top block 91 and the workpiece to rotate 90 degrees, which can realize the precise switching of the side angle to be secondary formed, and reduce the difficulty of positioning the rotation angle of the secondary side forming of the workpiece.

[0044] After the forging machine has performed secondary forging on the side of the workpiece, the lifting and feeding equipment rises to transport the blank to the set area of ​​the loading area 12. The first clamp 4 clamps the blank in the loading area 12, and the output end of the first motor 2 drives the support plate 3 and the first clamp 4 to rotate toward the adjustment plate 5 until the first clamp 4 moves into the forging area 13. During the rotation process, the torsion spring 6 will push the adjustment plate 5, the second motor 8, and the second clamp 9 to rotate synchronously, so that the formed workpiece moves to the unloading area 14, the second clamp 9 drives the top block 91 to unfold, and the workpiece falls. The second motor 8 drives the second clamp 9 to rotate 90 degrees, and the third motor 83 rotates upward, thereby keeping the clamping direction of the first clamp 4 and the second clamp 9 vertical again, preparing for the next workpiece transportation.

[0045] In order to leave enough space for forging operations in the forging machine, when the first clamp 4 drives the workpiece to move to the position of the second clamp 9, the output end of the electric slide 7 drives the second motor 8, the rotating plate 81 and the second clamp 9 to move outward, thereby realizing eccentric clamping of the workpiece. It should be noted that the position of the eccentric clamping can be located on the extension line of the line connecting the center of the top block 91 and the center of the support shaft 31. This design can ensure that the line connecting the center of the top block 91 and the center of the support shaft 31 is perpendicular to the primary side forging surface of the workpiece, and can accurately control the rotation angle during the secondary forging of the side of the workpiece, reducing the difficulty of controlling the rotation of the workpiece.

[0046] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A forging feeding robot, characterized in that: The invention comprises a mechanical arm (1), wherein a first motor (2) is installed at the output end of the mechanical arm (1), a support plate (3) is fixedly installed at the output end of the first motor (2), and a first clamping claw (4) is installed on the support plate (3); An adjusting plate (5) is rotatably connected to a support shaft (31) mounted on the bottom of the supporting plate (3); a torsion spring (6) for adjusting the angle between the supporting plate (3) and the adjusting plate (5) is mounted on the supporting plate (3); a driving assembly is mounted on the adjusting plate (5); and a second clamping jaw (9) is mounted on the output end of the driving assembly; The first motor (2) drives the first clamping jaw (4) and the second clamping jaw (9) to complete the workstation conversion between the loading area (12), the forging area (13) and the unloading area (14). By rotating the support plate (3), the clamping surface of the workpiece between the first clamping jaw (4) and the second clamping jaw (9) can be switched, so that the first clamping jaw (4) and the second clamping jaw (9) can be operated alternately.

2. A forging feeding robot according to claim 1, characterized in that: The driving assembly comprises an electric slide (7) mounted on an adjusting plate (5) and a support frame (71) slidably connected to the adjusting plate (5); the adjusting plate (5) is mounted on an output end of the electric slide (7); a second motor (8) is fixedly mounted on the support frame (71); a rotating plate (81) is fixedly mounted on the output end of the second motor (8); and a second clamping claw (9) is mounted on the rotating plate (81).

3. A forging feeding robot according to claim 2, characterized in that: The rotating plate (81) is slidably connected to an adjusting frame (82), and a third motor (83) is fixedly mounted on the adjusting frame (82); A top block (91) is rotatably mounted on the clamping arm of the second clamping jaw (9), and the third motor (83) is fixedly connected to the top block (91).

4. A forging feeding robot according to claim 1, characterized in that: A limiting plate (32) is installed on the support plate (3), an arc-shaped groove (33) is provided on the limiting plate (32), and a limiting column (51) installed on the adjustment plate (5) is inserted into the arc-shaped groove (33) and slides.

5. The forging feeding robot according to claim 3, characterized in that: The clamping center line of the first clamping jaw (4) and the axis of the top block (91) are both located on the same circumference with the center of the support shaft (31) as the center.

6. The forging feeding robot according to claim 3, characterized in that: The second motor (8) drives the rotation surface of the line connecting the centers of the two top blocks (91) to be coplanar with the line connecting the center of the top block (91) and the center of the support shaft (31).

7. The forging feeding robot according to claim 3, characterized in that: The electric slide (7) drives the two top blocks (91) to move in a direction parallel to the line connecting the center of the top block (91) and the center of the support shaft (31).

8. The forging feeding robot according to claim 1, characterized in that: A positioning block (11) for limiting the rotation of the adjustment plate (5) is fixedly mounted on the mechanical arm (1).

9. The forging feeding robot according to claim 1, characterized in that: A clamping block (41) is fixedly mounted on the clamping arm of the first clamping jaw (4), and a positioning groove (42) is provided on the clamping block (41).

10. A forging feeding robot according to any one of claims 1 to 9, characterized in that: The support shaft (31) is coaxial with the output end of the first motor (2).

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