Vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment

Abstract

The utility model discloses a vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment, the manipulator is located in a material transfer chamber, a feeding and discharging chamber, a heating chamber and a forging chamber are arranged around the material transfer chamber, and the manipulator transfers materials among the feeding and discharging chamber, the heating chamber and the forging chamber; the manipulator comprises a clamp mechanism arranged on a base; the first moving mechanism is arranged on the base and used for driving the clamp mechanism to linearly move in the horizontal plane in the length direction of a clamping piece of the clamp mechanism. The two moving mechanisms are arranged on the base and used for driving the clamp mechanism to linearly move in the horizontal plane in the direction perpendicular to the length direction of a clamping piece of the clamp mechanism; the third moving mechanism is arranged on the base and used for driving the clamp mechanism to linearly move in the vertical direction; and the rotating mechanism is arranged on the base and is used for driving the clamp mechanism to rotate by taking the vertical direction as a rotating shaft. The moving range of the clamp mechanism can be reduced, so that the material moving space of an adaptive manipulator is reduced, and the difficulty of forming and keeping a vacuum space is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of metal forging and forming, in particular to a vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment. Background Art

[0002] The material transfer manipulator used for vacuum isothermal forging is special in that it needs to complete the forging of materials in a vacuum environment. In industrial production, multi-joint robots are usually used to transfer materials. Since multi-joint robots need to rotate multiple joints to drive the rotation of each section of the manipulator arm to achieve material transfer, the robot needs a larger operating space when transferring materials, which will affect the efficiency of vacuuming and increase the difficulty of maintaining vacuum.

[0003] Other types of manipulators that can be considered include multi-link manipulators represented by the foreign GLAMA. However, compared with multi-joint robots, they require a larger operating space. In addition, the structural form of the multi-link manipulator determines that its positioning accuracy is not high, and it is difficult to achieve the positioning accuracy required for vacuum isothermal forging material transfer.

[0004] Therefore, there is an urgent need for a vacuum isothermal forging material transfer robot and vacuum isothermal forging equipment that can reduce the operating space and improve the positioning accuracy during material transfer. Utility Model Content

[0005] The utility model aims to provide a vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment, which can reduce the operating space and improve the positioning accuracy during material transfer.

[0006] In order to solve the above technical problems, the utility model specifically provides the following technical solutions: a vacuum isothermal forging material transfer manipulator, comprising:

[0007] A clamp mechanism, arranged on the base, for clamping materials;

[0008] A first moving mechanism, disposed on the base, for driving the clamping mechanism to move linearly along the length direction of its own clamping member in a horizontal plane;

[0009] A second moving mechanism, disposed on the base, for driving the clamping mechanism to move linearly in a vertical direction;

[0010] A third moving mechanism, disposed on the base, is used to drive the clamp mechanism to move linearly in a horizontal plane perpendicular to the length direction of its own clamping piece;

[0011] The rotating mechanism is arranged on the base and is used for driving the clamping mechanism to rotate with the vertical direction as the rotating axis.

[0012] Further, the clamp mechanism is arranged on the driving part of the first moving mechanism;

[0013] The first moving mechanism is arranged on the driving part of the rotating mechanism;

[0014] The rotating mechanism is arranged on the driving part of the second moving mechanism;

[0015] The second moving mechanism is arranged on the driving part of the third moving mechanism;

[0016] The third moving mechanism is arranged on the base.

[0017] Furthermore, the clamp mechanism includes a first clamp arm, a second clamp arm, a ball screw and a clamp seat; wherein in the ball screw, half of the screw thread is a forward thread, and the other half is a reverse thread, and two ball nuts are provided, which are respectively threadedly connected to the two parts of the screw, and the first clamp arm and the second clamp arm are fixed to the ball nuts; the ball screw is arranged on the clamp seat, and the screw of the ball screw is driven to rotate by a driving motor.

[0018] Furthermore, a first jaw is provided on the surface of the first clamp arm facing the second clamp arm; a second jaw is provided on the surface of the second clamp arm facing the first clamp arm at a position corresponding to the first jaw; the first jaw and the second jaw are in a notch shape.

[0019] Furthermore, the first moving mechanism includes a first main body, a first ball screw and a first motor; the first ball screw is arranged on the first main body, the bottom of the clamp seat is fixed to the ball nut of the first ball screw, and the screw of the first ball screw is driven to rotate by the first motor.

[0020] Furthermore, the first movable mechanism also includes a cover plate, which is arranged on the upper surface of the first main body, and the two form a cavity, wrapping other components of the first movable mechanism except the cover plate and the first main body inside the cavity; a movable opening is provided on the top of the cover plate, and the connecting piece between the clamping mechanism and the first movable mechanism passes through the movable opening.

[0021] Furthermore, the moving mechanism includes a precision turntable and a rotary drive motor for driving the precision turntable to rotate; the rotating part of the precision turntable is connected to the bottom of the first main body.

[0022] Furthermore, the second moving mechanism includes at least two groups of screw elevators, a second main body and a second motor; the screw elevator is vertically arranged, the second motor drives the screw of the screw elevator to rotate, the second main body passes through the screw and is connected to the ball nut on the screw; the precision turntable is vertically arranged on the second main body.

[0023] Furthermore, the third moving mechanism includes two third guide rails, a rack, a third body and a third motor arranged on the base; the rack is arranged between the two third guide rails, and the three are arranged parallel to each other; the third body is a cavity with an open top, and a third slider is provided at its bottom corresponding to the third guide rail, the third slider is slidably connected relative to the third guide rail, and the second moving mechanism is arranged inside the third body; the third motor is arranged on one side of the third body, and a gear is provided at the driving end of the third motor, and the gear is meshed with the rack.

[0024] In order to solve the above technical problems, the utility model further provides the following technical solutions: a vacuum isothermal forging device, comprising a material transfer chamber, a material inlet and outlet chamber, a heating chamber, a forging chamber and a manipulator, wherein the manipulator is the manipulator described above;

[0025] The manipulator is located in the material transfer chamber;

[0026] The material inlet and outlet chamber, the heating chamber and the forging chamber are arranged around the material transfer chamber, and the material transfer chamber is connected with the material inlet and outlet chamber, the heating chamber and the forging chamber;

[0027] The manipulator transfers materials between the feeding and discharging chamber, the heating chamber and the forging chamber;

[0028] The transfer chamber and the forging chamber are provided with a vacuum pump to evacuate air to form a vacuum environment.

[0029] Compared with the prior art, the utility model has the following beneficial effects: the clamp mechanism is driven to move in the first direction, the second direction and the third direction respectively by the third moving mechanism, the first moving mechanism and the second moving mechanism, and the clamp mechanism is driven to rotate by the rotating mechanism, so that the clamp mechanism changes its direction, so that the clamp mechanism transfers materials toward the material inlet and outlet chamber, the heating chamber and the forging chamber. In this way, the movement of the clamp mechanism can be made simpler and more direct, so that the positioning accuracy during material transfer can be improved. In addition, the range of movement of the clamp mechanism can be reduced, so as to reduce the material transfer space of the adaptor manipulator. In this way, the difficulty of maintaining a predetermined vacuum degree in the material transfer chamber and the forging chamber can be reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0031] Figure 1 This is a schematic diagram of the top orthographic projection structure of the robot in this application;

[0032] Figure 2 for Figure 1 The left side orthographic projection structure diagram of the manipulator in the figure;

[0033] Figure 3 for Figure 2 Schematic diagram of the partially cutaway structure of the middle manipulator;

[0034] Figure 4 for Figure 1 Schematic diagram of the front orthographic projection structure of the manipulator in the middle;

[0035] Figure 5-1 It is a schematic diagram of the robot gripping materials from the inlet and outlet chamber;

[0036] Figure 5-2 This is a schematic diagram of the robot putting materials into the heating chamber for heating;

[0037] Figure 5-3 The schematic diagram is a robot taking the heated material out of the heating chamber and preparing to send it to the forging chamber;

[0038] Figure 5-4 A schematic diagram of a robot placing materials at a pre-forging station in a forging chamber;

[0039] Figure 6-1 It is a schematic diagram of the manipulator withdrawing from the forging chamber and the forging equipment in the forging chamber forging the material;

[0040] Figure 6-2 A schematic diagram of a manipulator transferring a material from a pre-forging station in a forging chamber to a final forging station to prepare for final forging of the material;

[0041] Figure 6-3 A schematic diagram of a robot taking out the forged material from the forging chamber;

[0042] Figure 6-4 Schematic diagram of the robot placing the forged materials in the inlet and outlet chamber.

[0043] The numbers in the figure represent the following:

[0044] 1-vacuum isothermal forging equipment, 10-manipulator, 20-material transfer room, 30-in and out material room, 40-heating room, 50-forging room;

[0045] 100-base;

[0046] 200 - first moving mechanism, 210 - first main body, 220 - first guide rail, 230 - ball screw, 240 - first slider, 250 - first motor, 260 - cover plate, 261 - moving port;

[0047] 300 - second moving mechanism, 310 - spiral elevator, 320 - second motor, 330 - second main body;

[0048] 400 - third moving mechanism, 410 - third guide rail, 420 - rack, 430 - third main body, 431 - third slider, 440 - third motor;

[0049] 500-rotation mechanism, 510-precision turntable, 520-rotation drive motor;

[0050] 600 - clamping mechanism, 610 - clamping seat, 620 - second guide rail, 630 - ball screw, 640 - first clamping arm, 641 - first jaw, 650 - second clamping arm, 651 - second jaw, 660 - second slider. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0052] Next, in conjunction with the accompanying drawings, the specific structure of the vacuum isothermal forging material transfer robot 10 (referred to as the robot) and the vacuum isothermal forging equipment 1 in the embodiment of the present application is described in detail.

[0053] The vacuum isothermal forging equipment 1 in the embodiment of the present application includes a manipulator 10 and a material transfer chamber 20, a material inlet and outlet chamber 30, a heating chamber 40, and a forging chamber 50. Among them, the manipulator 10 is located in the material transfer chamber 20, and the material inlet and outlet chamber 30, the heating chamber 40 and the forging chamber 50 are arranged around the material transfer chamber 20. The material transfer chamber 20 is connected with the material inlet and outlet chamber 30, the heating chamber 40 and the forging chamber 50, and the manipulator 10 transfers materials between the material inlet and outlet chamber 30, the heating chamber 40 and the forging chamber 50. After the material transfer chamber 20 and the forging chamber 50 are closed, the air in the material transfer chamber 20 and the forging chamber 50 can be extracted by a vacuum pump and other equipment, and a predetermined vacuum degree is maintained to ensure that high-temperature materials can be forged in a vacuum environment.

[0054] in, Figure 5-1 , Figure 5-2 , Figure 5-3 and Figure 5-4 This is one of the schematic diagrams of the process of forging materials by the vacuum isothermal forging equipment 1 in this application. Figure 5-1 The figure shows that the robot 10 grabs the material from the inlet and outlet chamber 30. Figure 5-2 The robot 10 is shown putting the material into the heating chamber 40 for heating. Figure 5-3 The figure shows that the robot 10 takes the heated material out of the heating chamber 40 and prepares to send it to the forging chamber 50. Figure 5-4 Shown is a robot 10 placing the material in the pre-forging station of the forging chamber 50.

[0055] Figure 6-1 , Figure 6-2 , Figure 6-3 and Figure 6-4 This is the second schematic diagram of the process of forging materials by the vacuum isothermal forging equipment 1 in this application. Figure 6-1 The figure shows that the manipulator 10 is withdrawn from the forging chamber 50, and the forging equipment 1 in the forging chamber 50 is forging the material. Figure 6-2 The figure shows that the manipulator 10 transfers the material from the pre-forging station in the forging chamber 50 to the final forging station, preparing to perform final forging on the material. Figure 6-3 The figure shows that the robot 10 takes the forged material out of the forging chamber 50. Figure 6-4 The robot 10 is shown placing the forged material in the inlet and outlet chamber 30 .

[0056] The manipulator 10 includes: a base 100, which is arranged in a material transfer chamber 20; a clamping mechanism 600, which is arranged on the base 100; a first moving mechanism 200, which is arranged on the base 100 and is used to drive the clamping mechanism 600 to move linearly in a horizontal plane along the length direction of its own clamping part; a second moving mechanism 300, which is arranged on the base 100 and is used to drive the clamping mechanism 600 to move linearly in a vertical direction; a rotating mechanism 500, which is arranged on the base 100 and is used to drive the clamping mechanism 600 to rotate with the vertical direction as the axis of rotation.

[0057] From the above, the clamp mechanism 600 can be driven to rotate by the rotating mechanism 500 to change the direction of the clamp mechanism 600, so that the clamp mechanism 600 can face the feeding and discharging chamber 30, the heating chamber 40 or the forging chamber 50. The clamp mechanism 600 is driven by the first moving mechanism 200 to move linearly in the horizontal plane along the length direction of its own clamping piece, and the clamp mechanism 600 can extend into the chamber after it faces the feeding and discharging chamber 30, the heating chamber 40 or the forging chamber 50 to clamp the material. The second moving mechanism 300 can drive the clamp mechanism 600 to move linearly in the vertical direction so as to pick up or put down the material. In this way, the movement of the clamp mechanism 600 can be made simpler and more direct, thereby improving the positioning accuracy during material transfer. In addition, the range of motion of the clamp mechanism 600 can also be reduced to reduce the material transfer space of the adapting manipulator 10. In this way, the difficulty of maintaining a predetermined vacuum degree in the material transfer chamber 20 and the forging chamber 50 can be reduced.

[0058] In some embodiments, Figure 1-Figure 4 As shown, the manipulator 10 also includes a third moving mechanism 400, which is arranged on the base 100, and is used to drive the clamping mechanism 600 to move linearly in a horizontal plane, perpendicular to the length direction of its own clamping part; the moving range of the clamping mechanism 600 can be increased, thereby increasing the layout space of the feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50, and facilitating the layout of the feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50.

[0059] In some embodiments, Figure 2-Figure 4 As shown, the clamping mechanism 600 is arranged on the driving part of the first moving mechanism 200, and the first moving mechanism 200 drives the clamping mechanism 600 to move linearly in the horizontal plane along the length direction of its own clamping part; the first moving mechanism 200 is arranged on the driving part of the rotating mechanism 500, and the rotating mechanism 500 drives the first moving mechanism 200 to rotate with the vertical direction as the axis of rotation; the rotating mechanism 500 is arranged on the driving part of the second moving mechanism 300, and the second moving mechanism 300 drives the rotating mechanism 500 to move linearly in the vertical direction; the second moving mechanism 300 is arranged on the driving part of the third moving mechanism 400, and the third moving mechanism 400 drives the second moving mechanism 300 to move linearly in the horizontal plane, perpendicular to the length direction of the clamping mechanism 600's own clamping part; the third moving mechanism 400 is arranged on the base 100. Therefore, the clamping mechanism 600, the first moving mechanism 200, the second moving mechanism 300, the third moving mechanism 400 and the rotating mechanism 500 are installed in an up-and-down stacking manner, which can simplify the installation structure of the manipulator 10 so that the manipulator 10 can be easily assembled and disassembled.

[0060] In some embodiments, Figure 1-Figure 3 As shown, the clamp mechanism 600 includes: a first clamp arm 640 and a second clamp arm 650, and the first moving mechanism 200 drives the clamp mechanism 600 to move along the direction of the clamp arm. Therefore, when the clamp mechanism 600 is directed toward the material inlet and outlet chamber 30, the heating chamber 40 and the forging chamber 50, the first moving mechanism 200 can drive the first clamp arm 640 and the second clamp arm 650 to extend into the corresponding material inlet and outlet chamber 30, the heating chamber 40 and the forging chamber 50 to transfer the material.

[0061] In some embodiments, Figure 1 As shown, the clamp mechanism 600 further includes a first ball screw 230 , which rotates to drive the first clamp arm 640 and the second clamp arm 650 to move in opposite directions, thereby achieving the clamping and loosening of the material.

[0062] In some embodiments, Figure 1As shown, a first jaw 641 is provided on the surface of the first clamp arm 640 facing the second clamp arm 650; a second jaw 651 is provided on the surface of the second clamp arm 650 facing the first clamp arm 640 at a position corresponding to the first jaw 641; the first jaw 641 and the second jaw 651 are in a notch shape. Thus, by providing the notch-shaped first jaw 641 and the second jaw 651, the material can be clamped in the first jaw 641 and the second jaw 651 during the process of the first clamp arm 640 and the second clamp arm 650 clamping the material. Thus, the contact area between the first clamp arm 640 and the second clamp arm 650 and the material can be increased, the firmness of the clamped material can be improved, and the possibility of the material falling can be reduced.

[0063] In some embodiments, the shapes of the first jaw 641 and the second jaw 651 are adapted to the shape of the material. Thus, by making the shapes of the first jaw 641 and the second jaw 651 adapted to the shape of the object, the contact area between the first jaw 641 and the second jaw 651 and the material can be increased, thereby increasing the friction force when the first jaw 641 and the second jaw 651 clamp the material, thereby improving the stability and firmness of the clamping.

[0064] In some embodiments, the first jaw 641 and the second jaw 651 are V-shaped notches. Thus, by setting the first jaw 641 and the second jaw 651 as V-shaped notches, the material can be centered during the clamping process, thereby improving the accuracy of transferring the material.

[0065] In some embodiments, the first moving mechanism 200 further includes a cover plate 260, which is used to protect internal parts. A moving opening 261 is provided on the top of the cover plate 260, extending along the moving direction of the clamp mechanism 600 driven by the first moving mechanism 200. The clamp seat 610 of the clamp mechanism 600 extends into the cover plate 260 through the moving opening 261, and the clamp seat 610 is driven to move by the first moving mechanism 200. Thus, by providing the cover plate, when the first clamp arm 640 and the second clamp arm 650 clamp the material and extend it into the heating chamber 40 and the forging chamber 50 to heat and forge the material, or when the first clamp arm 640 and the second clamp arm 650 clamp the high-temperature material and move it, the cover plate 260 can provide protection for the components in the first moving mechanism 200, thereby reducing the influence of heat radiation on the first moving mechanism 200. Thus, the service life of the manipulator 10 can be improved, and the possibility of failure can be reduced.

[0066] In some embodiments, the third moving mechanism 400, the first moving mechanism 200, the second moving mechanism 300 and / or the rotating mechanism 500 are driven by motors, and the motors use vacuum environment servo motors so that the motors can dissipate heat normally in the vacuum environment, thereby improving the stability of the device.

[0067] In some embodiments, grease is applied between the various moving parts in the third moving mechanism 400, the first moving mechanism 200, the second moving mechanism 300 and / or the rotating mechanism 500. The grease is a grease suitable for a vacuum environment to reduce the volatilization of the grease in the vacuum environment and avoid the failure of the grease due to volatilization.

[0068] Next, the specific structure of the vacuum isothermal forging equipment 1 of the present application is described in detail in a specific embodiment.

[0069] like Figure 1 As shown in FIG6 , the vacuum isothermal forging equipment 1 in this embodiment includes a manipulator 10, a material transfer chamber 20, a material inlet and outlet chamber 30, a heating chamber 40 and a forging chamber 50. The manipulator 10 is located in the material transfer chamber 20, the material inlet and outlet chamber 30 is located on the right side of the material transfer chamber 20, the heating chamber 40 is located on the left side of the material transfer chamber 20, and the forging chamber 50 is located in front of the material transfer chamber 20. The material inlet and outlet chamber 30, the heating chamber 40 and the forging chamber 50 are connected to the material transfer chamber 20, and the manipulator 10 is arranged in the material transfer chamber 20 to transfer materials between the material inlet and outlet chamber 30, the heating chamber 40 and the forging chamber 50.

[0070] like Figure 1-Figure 4 As shown, the manipulator 10 in this embodiment includes a base 100, a first moving mechanism 200, a second moving mechanism 300, a third moving mechanism 400, a rotating mechanism 500, and a clamping mechanism 600. The base 100 is located at the bottom of the manipulator 10, the third moving mechanism 400 is on the base 100, the second moving mechanism 300 is above the third moving mechanism 400, the rotating mechanism 500 is above the second moving mechanism 300, the first moving mechanism 200 is above the rotating mechanism 500, and the clamping mechanism 600 is above the first moving mechanism 200.

[0071] The structure of the manipulator 10 belongs to a coordinate manipulator. The third moving mechanism 400 drives the first moving mechanism 200, the second moving mechanism 300, the rotating mechanism 500, and the clamping mechanism 600 located above it to move in the left and right directions. The second moving mechanism 300 drives the first moving mechanism 200, the rotating mechanism 500, and the clamping mechanism 600 located above it to move in the up and down directions. The rotating mechanism 500 drives the first moving mechanism 200 and the clamping mechanism 600 located above it to rotate with the vertical direction as the axis of rotation, so that the orientation of the clamping mechanism 600 can be adjusted. The first moving mechanism 200 drives the clamping mechanism 600 located above it to move along the length direction of the clamping member. In this way, the structure and movement of the manipulator 10 can be simplified to reduce the activity space of the manipulator 10, thereby reducing the space of the material transfer chamber 20, increasing the efficiency of vacuuming, and reducing the difficulty of maintaining vacuum.

[0072] like Figure 1-Figure 3As shown, the third moving mechanism 400 includes two third guide rails 410 fixed on the base 100 and extending in parallel in the left-right direction, and a rack 420 arranged between the two third guide rails 410 and parallel to the third guide rail 410. The third moving mechanism 400 also includes a third main body 430, which is in a rectangular shape. Four third sliders 431 are installed at the four corners of the bottom of the third main body 430, and the third sliders 431 are slidably connected with the third guide rails 410 at corresponding positions. The third moving mechanism 400 also includes a third motor 440, a reducer and a gear arranged on the third main body 430. The third motor 440 is connected to the reducer in a transmission manner, the reducer is connected to the gear in a transmission manner, and the gear is meshed with the rack 420. When the third motor 440 rotates, the reducer can reduce the speed of the driving gear, and the gear is driven by the third motor 440 to rotate, so as to drive the third main body 430 to move left and right along the third guide rail 410.

[0073] like Figure 3 , Figure 4 As shown, the second moving mechanism 300 is arranged on the third main body 430, specifically arranged inside the third main body 430. The second moving mechanism 300 includes two screw elevators 310 installed on the inner bottom surface of the third main body 430, a lifting drive reducer, a second motor 320 and a second main body 330. The lifting drive reducer is connected to the second motor 320, and the lifting drive reducer and the screw elevator 310 are connected and power is transmitted through a pair of connecting shafts and a pair of couplings. There is a nut on the lead screw of each screw elevator 310, and the end of the lead screw is constrained by a bearing, and the nut is fixed on the second main body 330. The second motor 320 and the lifting drive reducer drive the lead screw of the screw elevator 310 to rotate, so that the nut moves up and down, thereby causing the second main body 330 to generate a lifting movement.

[0074] like Figure 3 , Figure 4 As shown, the rotating mechanism 500 is located above the second moving mechanism 300, and is specifically arranged at the upper end of the second main body 330. The rotating mechanism 500 includes a precision turntable 510 with a worm gear structure, which is fixed at the upper end of the second main body 330. The input end of the precision turntable 510 is connected to a rotation drive reducer and a rotation drive motor 520. The rotation drive motor 520 and the rotation drive reducer drive the precision turntable 510 to rotate, thereby rotating the first moving mechanism 200 fixed on the top surface of the precision turntable 510.

[0075] like Figure 1-Figure 4As shown, the first moving mechanism 200 is arranged above the rotating mechanism 500, and the first moving mechanism 200 includes a first main body 210, on which two parallel first guide rails 220 extending in a straight line are fixed, and a first ball screw 230 is also fixed, one end of the first ball screw 230 is fixed on the first main body 210, and the other end is fixed in the gear box, a ball nut is installed on the first ball screw 230, and the ball nut is fixed at the bottom of the clamp mechanism 600, and four first sliders 240 are also fixed at the bottom of the clamp mechanism 600, and the first sliders 240 cooperate with the two first guide rails 220 and slide along the first guide rails 220. The input end of the gear box is connected to the first motor 250, and the first motor 250 drives the first ball screw 230 to rotate through the U-shaped connection of the gear box and the 1:1 gear ratio transmission, so as to make the ball nut move linearly, thereby driving the clamp mechanism 600 to produce telescopic movement along the first guide rail 220.

[0076] like Figure 3 As shown, the first moving mechanism 200 further includes a cover plate 260, which is a rectangular shell-shaped component that covers the upper surface of the first main body 210, and protects other components of the first moving mechanism 200, such as the first guide rail 220, the first ball screw 230, the first slider 240, the first motor 250, etc. The top of the cover plate 260 is provided with a moving opening 261, which extends along the extension direction of the first guide rail 220, and the upper end of the first slider 240 extends out of the moving opening 261, so that the clamp seat 610 described below of the clamp mechanism 600 can be installed and fixed.

[0077] like Figure 1-Figure 4As shown, the clamp mechanism 600 is arranged above the first moving mechanism 200. Specifically, the clamp seat 610 of the clamp mechanism 600 is fixedly connected to the moving nut of the first moving mechanism 200. Two parallel second guide rails 620 are fixed on the clamp seat 610. A ball screw 630 is also fixed between the two second guide rails 620. One end of the ball screw 630 is fixed on the clamp seat 610, and the other end is fixed in the gear box. In the ball screw 630, half of the screw thread is a forward thread, and the other half is a reverse thread. A ball nut is installed on each half. The two ball nuts are respectively fixed at the bottom of the first clamp arm 640 and the second clamp arm 650. A total of four second sliders 660 are also fixed at the bottom of the first clamp arm 640 and the second clamp arm 650. The second slider 660 cooperates with the two second guide rails 620 and can slide along the second guide rails 620. The input end of the gearbox is connected to the opening and closing driving reducer and the opening and closing driving motor. The opening and closing driving reducer and the opening and closing driving motor drive the first ball screw 230 to rotate through the U-shaped connection of the gearbox and the 1:1 gear ratio transmission, so that the two ball nuts move linearly relative to each other, and the first clamping arm 640 and the second clamping arm 650 produce relative opening and closing motion along the second guide rail 620, so that the two jaws clamp or loosen relative to the blank or forging. The jaws adopt a V-shaped notch, which has a self-centering effect to ensure the accurate positioning of the blank.

[0078] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A vacuum isothermal forging material transfer manipulator, characterized in that: include: A clamp mechanism (600), arranged on the base (100) and used for clamping materials; A first moving mechanism (200) is arranged on the base (100) and is used to drive the clamping mechanism (600) to move linearly along the length direction of its own clamping member in a horizontal plane; A second moving mechanism (300) is arranged on the base (100) and is used to drive the clamping mechanism (600) to move linearly in a vertical direction; A third moving mechanism (400) is arranged on the base (100) and is used to drive the clamping mechanism (600) to move linearly in a horizontal plane perpendicular to the length direction of its clamping member; The rotating mechanism (500) is arranged on the base (100) and is used to drive the clamping mechanism (600) to rotate with the vertical direction as the rotation axis.

2. The vacuum isothermal forging material transfer manipulator according to claim 1, characterized in that: The clamp mechanism (600) is arranged on the driving part of the first moving mechanism (200); The first moving mechanism (200) is arranged on a driving part of the rotating mechanism (500); The rotating mechanism (500) is arranged on the driving part of the second moving mechanism (300); The second moving mechanism (300) is arranged on a driving part of the third moving mechanism (400); The third moving mechanism (400) is arranged on the base (100).

3. The vacuum isothermal forging material transfer manipulator according to claim 1 or 2, characterized in that: The clamp mechanism (600) comprises a first clamp arm (640), a second clamp arm (650), a ball screw (630) and a clamp seat (610); in the ball screw (630), half of the screw thread is a forward thread, and the other half is a reverse thread; two ball nuts are provided, which are respectively threadedly connected to the two parts of the screw; the first clamp arm (640) and the second clamp arm (650) are fixed to the ball nuts; the ball screw (630) is arranged on the clamp seat (610), and the screw of the ball screw (630) is driven by a driving motor to rotate.

4. The vacuum isothermal forging material transfer robot according to claim 3, characterized in that: A first jaw (641) is provided on the surface of the first clamp arm (640) facing the second clamp arm (650); a second jaw (651) is provided on the surface of the second clamp arm (650) facing the first clamp arm (640) at a position corresponding to the first jaw (641); the first jaw (641) and the second jaw (651) are in the shape of a notch.

5. The vacuum isothermal forging material transfer robot according to claim 3, characterized in that: The first moving mechanism (200) comprises a first main body (210), a first ball screw (230) and a first motor (250); the first ball screw (230) is arranged on the first main body (210), the bottom of the clamp seat (610) is fixed to the ball nut of the first ball screw (230), and the first motor (250) drives the screw of the first ball screw (230) to rotate.

6. The vacuum isothermal forging material transfer robot according to claim 5, characterized in that: The first moving mechanism (200) further comprises a cover plate (260), wherein the cover plate (260) is arranged on the upper surface of the first main body (210), and the two form a cavity, so that other parts of the first moving mechanism (200) except the cover plate (260) and the first main body (210) are wrapped inside the cavity; a moving opening (261) is arranged on the top of the cover plate (260), and a connecting piece between the clamping mechanism (600) and the first moving mechanism (200) passes through the moving opening (261).

7. The vacuum isothermal forging material transfer robot according to claim 6, characterized in that: The moving mechanism comprises a precision turntable (510) and a rotation drive motor (520) for driving the precision turntable (510) to rotate; the rotating part of the precision turntable (510) is connected to the bottom of the first main body (210).

8. The vacuum isothermal forging material transfer robot according to claim 7, characterized in that: The second moving mechanism (300) comprises at least two groups of screw elevators (310), a second main body (330) and a second motor (320); the screw elevator (310) is vertically arranged, the second motor (320) drives the screw of the screw elevator (310) to rotate, and the second main body (330) passes through the screw and is connected to the ball nut on the screw; the precision turntable (510) is vertically arranged on the second main body (330).

9. The vacuum isothermal forging material transfer robot according to claim 1, characterized in that: The third moving mechanism (400) includes two third guide rails (410), a rack (420), a third main body (430) and a third motor (440) arranged on the base (100); the rack (420) is arranged between the two third guide rails (410), and the three are arranged parallel to each other; the third main body (430) is a cavity with an open top, and a third slider (431) is arranged at its bottom corresponding to the third guide rail (410), and the third slider (431) is slidably connected relative to the third guide rail (410), and the second moving mechanism (300) is arranged inside the third main body (430); the third motor (440) is arranged on one side of the third main body (430), and a gear is arranged at the driving end of the third motor (440), and the gear is meshed with the rack (420).

10. A vacuum isothermal forging device, characterized in that: It comprises a material transfer chamber (20), a material inlet and outlet chamber (30), a heating chamber (40), a forging chamber (50) and a manipulator, wherein the manipulator is the manipulator according to any one of claims 1 to 9; The manipulator is located in the material transfer chamber (20); The material inlet and outlet chamber (30), the heating chamber (40) and the forging chamber (50) are arranged around the material transfer chamber (20), and the material transfer chamber (20) is in communication with the material inlet and outlet chamber (30), the heating chamber (40) and the forging chamber (50); The manipulator transfers materials between the material inlet and outlet chamber (30), the heating chamber (40) and the forging chamber (50); The material transfer chamber (20) and the forging chamber (50) form a vacuum environment by evacuating air through a vacuum pump.

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