Multi-axis linkage high-precision numerical control forge piece forging manipulator

Abstract

The utility model discloses a multi-axis linkage high-precision numerical control forge piece forging mechanical arm, relates to the technical field of forging machine mechanical arms, and aims to solve the problems that when an existing mechanical arm clamps a workpiece, the clamping force of each clamping position cannot be accurately monitored, the clamping position with insufficient clamping force cannot be timely found and overhauled, and the clamping force cannot be accurately monitored. According to the key points of the technical scheme, the device comprises a first linear module, a second linear module is fixedly mounted at the moving end of the first linear module, a third linear module is fixedly mounted at the moving end of the second linear module, and a movable seat is fixedly mounted at the moving end of the third linear module; a sliding rail is fixedly installed on the upper surface of the movable base, a plurality of clamping arms are connected into a sliding groove of the sliding rail in a sliding mode, and every two adjacent clamping arms are oppositely arranged. And the effects that the clamping force of each clamping position can be accurately monitored, and the working stability is effectively improved are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of forging machine manipulators, in particular to a multi-axis linkage high-precision numerically controlled forging forging manipulator. Background Art

[0002] In contemporary forging technology, in order to meet the needs of automated processing operations for workpieces, a robot is often configured on one side of the forging machine to realize the position transfer operation of high-temperature workpieces. It is an important auxiliary equipment in contemporary automated forging processes.

[0003] The existing manipulator cannot accurately monitor the clamping force of each clamping position when clamping a workpiece, and cannot promptly discover and repair the clamping position with insufficient clamping force, and the working stability needs to be further improved. Utility Model Content

[0004] The utility model aims to provide a multi-axis linkage high-precision CNC forging forging manipulator which can accurately monitor the clamping force of each clamping position, and the working stability is effectively improved.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A multi-axis linkage high-precision CNC forging robot comprises a first linear module, a second linear module is fixedly mounted on the moving end of the first linear module, a third linear module is fixedly mounted on the moving end of the second linear module, a movable seat is fixedly mounted on the moving end of the third linear module, a sliding track is fixedly mounted on the upper surface of the movable seat, a plurality of clamping arms are slidably connected in the slide groove of the sliding track, two adjacent clamping arms are oppositely arranged, a pressure detection seat is mounted at one end of the clamping arm, a piston rod is slidably mounted inside the pressure detection seat, and a clamping block is fixedly connected at one end of the piston rod.

[0007] By adopting the above technical solution, the clamping operation of multiple workpieces can be carried out simultaneously, and the loading, moving and unloading operations of the workpieces can be realized simultaneously.

[0008] Furthermore, a detection box is fixedly installed on the side surface of the clamping arm, a connecting pipe is arranged between the detection box and the pressure detection seat, both ends of the connecting pipe are connected to the interior of the detection box and the pressure detection seat respectively, the interiors of the detection box and the pressure detection seat are both filled with hydraulic oil, a mounting hole is arranged on the side surface of the detection box, and a pressure sensor is fixedly installed inside the mounting hole.

[0009] By adopting the above technical solution, the clamping feedback force can be detected by using a pressure sensor, and the clamping force of the clamping position can be accurately detected.

[0010] Furthermore, a fixed block is installed on the upper surface of the movable seat, a pressure alarm is fixedly connected to the upper end of the fixed block, the pressure alarm is electrically connected to the pressure sensor, an alarm light is fixedly installed on the upper surface of the pressure alarm, the alarm light is electrically connected to the pressure alarm, and a buzzer is arranged on the inner wall of the pressure alarm.

[0011] By adopting the above technical solution, when the clamping force is insufficient, an audible and visual alarm is issued to remind the staff to carry out timely maintenance.

[0012] Furthermore, a rotating mounting hole is provided on the outer surface of the fixing block, and a screw is rotatably installed inside the rotating mounting hole. A threaded hole is provided on the outer surface of the clamping arm, and both ends of the screw are respectively inserted into the threaded holes on the outer surface of the clamping arm. Two threads with opposite spiral directions are provided on the outer surface of the screw with the middle position as the boundary.

[0013] By adopting the above technical solution, the two clamping arms can be driven to move closer to or farther from each other by the rotation of the screw rod, thereby achieving the operation of clamping and releasing the workpiece.

[0014] Furthermore, a plurality of screw rods are provided, and the plurality of screw rods are connected end to end, a motor is fixedly mounted on the end surface of the sliding track, and one end of the rotating shaft of the motor is fixedly connected to one end of one of the screw rods.

[0015] By adopting the above technical solution, the motor can be used to drive all the screws to rotate synchronously.

[0016] Furthermore, an anti-slip groove is arranged on the outer surface of the clamping block, the first linear module and the second linear module are vertically distributed, and the third linear module is vertically distributed.

[0017] By adopting the above technical solution, it is ensured that the manipulator can move positions in multiple axial directions, and at the same time, the anti-slip performance of the clamping block can be improved by utilizing the anti-slip groove.

[0018] In summary, the beneficial technical effects of the utility model are:

[0019] The utility model can utilize the synchronous movement of multiple clamping arms inside the sliding track to clamp multiple workpieces at the same time, and then utilize the first linear module, the second linear module, and the third linear module to move the position, so as to synchronously realize the loading, moving, and unloading operations of the workpieces, and can effectively meet the needs of automated processing operations. In the process of clamping the workpiece, the pressure detection seat can be used to perform clamping force detection operation on the clamping position at the end of each clamping arm to ensure that each clamping position can perform stable and effective clamping, avoid the workpiece from falling during the transfer process, and improve the clamping stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0021] Figure 2 For this utility model Figure 1 A magnified image of point A;

[0022] Figure 3 For this utility model Figure 1 The enlarged view of point B;

[0023] Figure 4 This is the internal structure diagram of the pressure detection seat of the utility model.

[0024] In the figure: 1. first linear module; 2. second linear module; 3. third linear module; 4. sliding track; 5. clamping arm; 6. motor; 7. screw; 8. pressure alarm; 9. alarm light; 10. fixed block; 11. detection box; 12. pressure sensor; 13. connecting pipe; 14. pressure detection seat; 15. clamping block; 16. piston rod; 17. movable seat. DETAILED DESCRIPTION

[0025] The method of the utility model is further described in detail below in conjunction with the accompanying drawings.

[0026] Refer to the attached Figure 1 , Attachment Figure 2 , Attachment Figure 3 , Attachment Figure 4 A multi-axis linkage high-precision CNC forging robot comprises a first linear module 1, a second linear module 2 is fixedly mounted on the moving end of the first linear module 1, a third linear module 3 is fixedly mounted on the moving end of the second linear module 2, a movable seat 17 is fixedly mounted on the moving end of the third linear module 3, a sliding track 4 is fixedly mounted on the upper surface of the movable seat 17, a plurality of clamping arms 5 are slidably connected in the slide groove of the sliding track 4, two adjacent clamping arms 5 are oppositely arranged, a pressure detection seat 14 is mounted on one end of the clamping arm 5, a piston rod 16 is slidably mounted inside the pressure detection seat 14, a clamping block 15 is fixedly connected to one end of the piston rod 16, and an anti-slip groove is arranged on the outer surface of the clamping block 15, The first linear module 1 and the second linear module 2 are distributed vertically, and the third linear module 3 is distributed vertically, wherein multiple clamping arms 5 can be used to move synchronously inside the sliding track 4 to clamp multiple workpieces at the same time, and then the first linear module 1, the second linear module 2, and the third linear module 3 are used to move the position, so that the loading, moving, and unloading operations of the workpieces can be realized synchronously, which can effectively meet the needs of automated processing operations. In the process of clamping the workpiece, the pressure detection seat 14 can be used to perform clamping force detection operations on the clamping position at the end of each clamping arm 5 to ensure that each clamping position can perform stable and effective clamping, avoid the workpiece from falling during the transfer process, and improve the clamping stability of the robot.

[0027] Reference Figure 2 , Figure 3 , Figure 4 A detection box 11 is fixedly installed on the side surface of the clamping arm 5, a connecting pipe 13 is arranged between the detection box 11 and the pressure detection seat 14, the two ends of the connecting pipe 13 are respectively connected to the inside of the detection box 11 and the pressure detection seat 14, the inside of the detection box 11 and the pressure detection seat 14 are both filled with hydraulic oil, a mounting hole is arranged on the side surface of the detection box 11, and a pressure sensor 12 is fixedly installed inside the mounting hole, a fixed block 10 is installed on the upper surface of the movable seat 17, and a pressure alarm 8 is fixedly connected to the upper end of the fixed block 10, and the pressure alarm 8 is electrically connected to the pressure sensor 12. Then, an alarm light 9 is fixedly installed on the upper surface of the pressure alarm 8, and the alarm light 9 is electrically connected to the pressure alarm 8. A buzzer is arranged on the inner wall of the pressure alarm 8, wherein when the workpiece is clamped, the piston rod 16 transmits the feedback force to the hydraulic oil, and then the pressure sensor 12 is used to detect the pressure value of the hydraulic oil, and then the pressure alarm 8 is used to receive the pressure data transmitted by the pressure sensor 12. When the pressure value is lower than the set range, the working circuit of the buzzer inside the pressure alarm 8 and the alarm light 9 is turned on, realizing the sound and light alarm operation, and reminding the staff to repair in time.

[0028] Reference Figure 1 , Figure 2 A rotatable mounting hole is provided on the outer surface of the fixed block 10, and a screw 7 is rotatably installed inside the rotatable mounting hole. A threaded hole is provided on the outer surface of the clamping arm 5, and both ends of the screw 7 respectively penetrate the threaded holes on the outer surface of the clamping arm 5. Two threads with opposite spiral directions are provided on the outer surface of the screw 7 with the middle position as the boundary. There are multiple screws 7, and the multiple screws 7 are connected end to end. A motor 6 is fixedly installed on the end surface of the sliding track 4, and one end of the rotating shaft of the motor 6 is fixedly connected to one end of one of the screws 7, wherein the motor 6 can be used to drive multiple screws 7 to rotate synchronously. Since the screw 7 is provided with two threads with opposite spiral directions, the rotation of the screw 7 can make the corresponding two clamping arms 5 approach or move away from each other, and at this time, the clamping and releasing operations of the workpiece can be realized.

[0029] Working principle: When in use, the manipulator is first installed at the specified position, at which time the workpiece can be picked up and placed. First, the clamping position of one end of the clamping arm 5 is moved to the specified position by using the first linear module 1, the second linear module 2, and the third linear module 3. Then the motor 6 is started, and the motor 6 is used to drive multiple screws 7 to rotate synchronously. Since the screw 7 is provided with two threads with opposite spiral directions, the rotation of the screw 7 can make the corresponding two clamping arms 5 approach each other, so that the workpiece can be effectively clamped. At this time, the workpiece is clamped between the two clamping blocks 15. Since the clamping block 15 is fixedly connected to one end of the piston rod 16, the piston rod 16 can transmit the reaction force generated by the clamping The hydraulic oil is guided to the hydraulic oil inside the pressure detection seat 14. Under the connection of the connecting pipe 13, the hydraulic oil pressure inside the detection box 11 is consistent with the hydraulic oil pressure inside the pressure detection seat 14. At this time, the pressure sensor 12 can be used to detect the oil pressure of the hydraulic oil, and the detection data is transmitted to the inside of the pressure alarm 8. When the pressure value is lower than the set range, the working circuits of the buzzer and the alarm light 9 inside the pressure alarm 8 are connected to realize the sound and light alarm operation, reminding the staff to repair in time, and then the workpiece is transferred to the specified position through the first linear module 1, the second linear module 2, and the third linear module 3, and then the motor 6 is reversed to reverse the screw 7, thereby releasing the clamped workpiece.

[0030] The embodiments of this specific implementation method are all preferred embodiments of the utility model, and are not intended to limit the protection scope of the utility model. Therefore, all equivalent changes made based on the structure, shape, and principle of the utility model should be included in the protection scope of the utility model.

Claims

1. A multi-axis linkage high-precision CNC forging robot, comprising a first linear module (1), characterized in that: The movable end of the first linear module (1) is fixedly mounted with a second linear module (2), the movable end of the second linear module (2) is fixedly mounted with a third linear module (3), the movable end of the third linear module (3) is fixedly mounted with a movable seat (17), a sliding track (4) is fixedly mounted on the upper surface of the movable seat (17), a plurality of clamping arms (5) are slidably connected in the slide groove of the sliding track (4), two adjacent clamping arms (5) are arranged opposite to each other, one end of the clamping arm (5) is mounted with a pressure detection seat (14), a piston rod (16) is slidably mounted inside the pressure detection seat (14), and one end of the piston rod (16) is fixedly connected with a clamping block (15).

2. A multi-axis linkage high-precision CNC forging robot according to claim 1, characterized in that: A detection box (11) is fixedly mounted on the side surface of the clamping arm (5); a connecting pipe (13) is provided between the detection box (11) and the pressure detection seat (14); two ends of the connecting pipe (13) are respectively connected to the inside of the detection box (11) and the pressure detection seat (14); the inside of the detection box (11) and the pressure detection seat (14) are both filled with hydraulic oil; a mounting hole is provided on the side surface of the detection box (11), and a pressure sensor (12) is fixedly mounted inside the mounting hole.

3. A multi-axis linkage high-precision CNC forging robot according to claim 2, characterized in that: A fixed block (10) is mounted on the upper surface of the movable seat (17); a pressure alarm (8) is fixedly connected to the upper end of the fixed block (10); the pressure alarm (8) is electrically connected to the pressure sensor (12); an alarm light (9) is fixedly mounted on the upper surface of the pressure alarm (8); the alarm light (9) is electrically connected to the pressure alarm (8); and a buzzer is arranged on the inner wall of the pressure alarm (8).

4. A multi-axis linkage high-precision CNC forging robot according to claim 3, characterized in that: The fixing block (10) is provided with a rotatable mounting hole on its outer surface, and a screw rod (7) is rotatably mounted inside the rotatable mounting hole. The clamping arm (5) is provided with a threaded hole on its outer surface, and both ends of the screw rod (7) respectively penetrate the threaded holes on the outer surface of the clamping arm (5). Two threads with opposite spiral directions are provided on the outer surface of the screw rod (7) with the middle position as the boundary.

5. The multi-axis linkage high-precision CNC forging robot according to claim 4 is characterized in that: A plurality of screw rods (7) are provided, and the plurality of screw rods (7) are connected end to end. A motor (6) is fixedly mounted on the end surface of the sliding track (4), and one end of the rotating shaft of the motor (6) is fixedly connected to one end of one of the screw rods (7).

6. The multi-axis linkage high-precision CNC forging robot according to claim 1, characterized in that: An anti-slip groove is provided on the outer surface of the clamping block (15); the first linear module (1) and the second linear module (2) are vertically distributed; and the third linear module (3) is vertically distributed.

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