Clamping piece of annular forge piece and machining mechanical arm

Abstract

The utility model discloses an annular forge piece clamping piece and a machining mechanical arm, which belong to the technical field of annular forge piece machining equipment and comprise a U-shaped supporting arm, movable arms oppositely hinged at two ends of the U-shaped supporting arm, and a clamping telescopic cylinder arranged between the movable arms and the U-shaped supporting arm and used for driving the movable arms to deflect, the arc-shaped clamping block is hinged to the movable arm, the flat shoveling plate is fixed to the arc-shaped clamping block and used for flat shoveling the annular forge piece, and the supporting frame is fixed to the U-shaped supporting arm. The two clamping telescopic cylinders drive the two movable arms to insert the two flat shovel plates between the annular forge piece and the workbench, meanwhile, the lower supporting plate is lifted into the annular forge piece in cooperation with tilting and stretching of the free ends of the telescopic arms, the annular forge piece is dragged through the lower supporting plate by falling and contracting of the free ends of the telescopic arms, and therefore the annular forge piece can be clamped. The two ends of the diameter of the annular forge piece are moved to the position between the two arc-shaped clamping blocks, and the two ends of the diameter of the annular forge piece are rapidly and efficiently clamped.

Description

Technical Field

[0001] The utility model relates to the technical field of annular forging processing equipment, in particular to a clamping piece and a processing manipulator for annular forgings. Background Art

[0002] Forging is a processing method that uses a forging machine to apply pressure to a metal blank to forge the metal blank into a specified shape. It is widely used in the field of medium and large parts processing, or the field of small and medium-sized parts processing with high quality requirements. Ring forgings are a relatively common forging part. Since most ring forgings are large in size and mass, a processing robot is required for their transportation, flipping, and position adjustment during the forging process. The clamps on the processing robot are used to clamp and limit the ring forgings, which facilitates their position adjustment, flipping, and transportation. The clamps of the existing processing robots for ring forgings are difficult to clamp quickly and efficiently at both ends of the diameter of the ring forgings.

[0003] The existing patent application number: 201922263138.1 discloses a forging manipulator and a manipulator clamp for flipping annular forgings. The device sets a material transfer structure so that after the rotating head clamps the annular forging, it can adjust the pitch angle of the annular forging to facilitate the operator to observe its flatness. In the above-mentioned prior art, the device still has the above-mentioned technical problems when clamping and limiting the annular forging. Utility Model Content

[0004] The utility model aims to provide a medical elastomer material purification device to solve the problem in the above background technology that it is difficult to clamp the two ends of the diameter of the annular forging quickly and efficiently.

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

[0006] The utility model provides a clamping piece for an annular forging, which comprises a U-shaped supporting arm and movable arms which are relatively hinged at two ends of the U-shaped supporting arm.

[0007] A clamping telescopic cylinder is arranged between the movable arm and the U-shaped support arm and is used to drive the movable arm to deflect.

[0008] An arc-shaped clamping block is hinged on the movable arm.

[0009] A flat scraper plate fixed on the arc-shaped clamping block is used for flat scraping the annular forging.

[0010] A support frame is fixed on the U-shaped support arm.

[0011] A telescopic arm is hinged in the support frame.

[0012] A rocker arm telescopic cylinder is arranged between the support frame and the telescopic arm and is used to drive the telescopic arm to deflect up and down.

[0013] A steel wire rope is fixed to the free end of the telescopic arm.

[0014] The upper sliding sleeve is slidably mounted on the steel wire suspension rope.

[0015] A rack is fixed on the wire rope, the rack is slidably connected with the upper inner cavity arranged in the upper sliding sleeve, and a transmission gear for power transmission is rotatably arranged between the rack and the inner wall of the upper inner cavity.

[0016] The sliding sleeve is arranged on the outside of the steel wire suspension rope and is used for the compression spring of the rack to reset and slide.

[0017] A lower sliding sleeve is slidably sleeved on the outer side of the upper sliding sleeve, and the upper sliding sleeve is slidably connected with a lower inner cavity arranged on the top of the lower sliding sleeve.

[0018] An upper clamping plate is fixed to the top of the upper sliding sleeve.

[0019] A lower support plate fixed to the bottom of the lower sliding sleeve.

[0020] Furthermore, the limiting portion comprises:

[0021] An arc-shaped clamping block hinged to the movable arm;

[0022] A flat scraper plate fixed on the arc-shaped clamping block is used for flat scraping the annular forging.

[0023] Furthermore, the boundaries of the flat shovel plate and the lower support plate are both provided with chamfered surfaces, and one side of the lower support plate and the upper clamping plate are both convex.

[0024] Furthermore, two ends of the clamping telescopic cylinder are respectively hinged on the U-shaped support arm and the movable arm, and the clamping telescopic cylinder, the U-shaped support arm and the movable arm form a triangle.

[0025] Furthermore, the suspension part comprises:

[0026] A support frame fixed on the U-shaped support arm;

[0027] A telescopic arm hinged in the support frame;

[0028] A rocker arm telescopic cylinder disposed between the support frame and the telescopic arm and used for driving the telescopic arm to deflect up and down;

[0029] A driving member for driving the telescopic arm to extend and retract.

[0030] Furthermore, both ends of the rocker arm telescopic cylinder are hinged on a support frame and a telescopic arm respectively, and the support frame is located between the free end of the telescopic arm and the connection between the free end of the telescopic arm and the rocker arm telescopic cylinder.

[0031] Furthermore, the inner wall of the upper inner cavity close to the transmission gear is a tooth surface, and the tooth surface of the transmission gear is meshed with the tooth surface of the rack and the upper inner cavity respectively.

[0032] Furthermore, the clamping piece of the annular forging also includes a connecting block transversely fixed to one side of the U-shaped support arm, and a connecting hole is provided on one side of the connecting block.

[0033] As a second aspect of the present invention, a processing robot is provided, comprising a robot arm and a clamping member of the annular forging as described above, wherein the clamping member is fixed to the free end of the robot arm.

[0034] Compared with the prior art, one or more of the above technical solutions have the following beneficial effects:

[0035] 1. The utility model drives two movable arms through two clamping telescopic cylinders to insert two flat shovel plates between the annular forging and the workbench, so that the annular forging is located between the two arc-shaped clamping blocks. At the same time, the free end of the telescopic arm is tilted and extended, the lower support plate is hoisted into the annular forging, and the free end of the telescopic arm is dropped and contracted, and the annular forging is dragged by the lower support plate, so that the two ends of the diameter are moved between the two arc-shaped clamping blocks, so as to clamp the two ends of the diameter of the annular forging quickly and efficiently;

[0036] 2. The utility model uses an arc-shaped clamping block, a flat shovel plate, an upper sliding sleeve, a lower sliding sleeve and a rack and other structures in coordination. After the annular forging is clamped and lifted, the free end of the telescopic arm is deflected up and down, so that the top of the lower support plate abuts against the bottom of the annular forging, and then the free end of the telescopic arm is tilted and extended, pulling the wire rope and the rack, so that the upper sliding sleeve contracts downward into the sliding sleeve, so that the upper clamping plate and the lower support plate clamp the circular forging, thereby realizing three-point clamping and fixation of the annular forging, and improving the stability of the handling and position adjustment of the annular forging. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a second isometric drawing of the utility model;

[0038] Figure 2 It is a second isometric view of the main clamping part and the suspension part in the utility model;

[0039] Figure 3 It is a partial cross-sectional view of the utility model;

[0040] Figure 4 for Figure 3 main view.

[0041] In the figure: 1. Main clamping part; 11. U-shaped supporting arm; 12. Movable arm; 13. Clamping telescopic cylinder; 2. Suspension part; 21. Support frame; 22. Telescopic arm; 23. Rocker arm telescopic cylinder; 24. Driving member; 3. Connecting block; 4. Limiting part; 41. Arc clamping block; 42. Flat shovel plate; 5. Auxiliary part; 51. Wire rope; 52. Upper sliding sleeve; 53. Upper inner cavity; 54. Rack; 55. Compression spring; 56. Transmission gear; 57. Lower sliding sleeve; 58. Lower inner cavity; 59. Clamping plate; 6. Connecting hole. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

[0043] like Figures 1 to 3 As shown, a clamping piece for an annular forging comprises a main clamping part 1 for clamping the annular forging and a limiting part 4 provided on the main clamping part 1 for scooping up and limiting the annular forging, a hanging part 2 is provided on the main clamping part 1, and an auxiliary part 5 for auxiliary clamping of the annular forging is provided on the hanging part 2;

[0044] The main clamping part 1 comprises a U-shaped support arm 11 and movable arms 12 relatively hinged at both ends of the U-shaped support arm 11, and a clamping telescopic cylinder 13 for driving the movable arm 12 to deflect is provided between the movable arm 12 and the U-shaped support arm 11;

[0045] The auxiliary part 5 includes:

[0046] A steel wire rope 51 fixed to the output end of the suspension part 2;

[0047] An upper sliding sleeve 52 slidably mounted on the wire rope 51;

[0048] A rack 54 fixed on the wire rope 51 is slidably connected to an upper inner cavity 53 provided in the upper sliding sleeve 52, and a transmission gear 56 for power transmission is rotatably provided between the rack 54 and the inner wall of the upper inner cavity 53;

[0049] A compression spring 55 is provided on the outside of the wire rope 51 for the rack 54 to return to the original position;

[0050] A lower sleeve 57 is slidably mounted on the outer portion of the upper sleeve 52, and the upper sleeve 52 is slidably connected with a lower inner cavity 58 disposed on the top of the lower sleeve 57;

[0051] The clamping plates 59 are respectively fixed on the upper sliding sleeve 52 and the lower sliding sleeve 57.

[0052] When the annular forging needs to be clamped, the two clamping telescopic cylinders 13 are first controlled to extend synchronously and drive the free ends of the two movable arms 12 to move away from each other until the distance between the free ends of the two movable arms 12 is larger than the outer diameter of the annular forging and the circular shape of the annular forging is located within the range between the free ends of the two movable arms 12. Then, the two clamping telescopic cylinders 13 are controlled to contract synchronously to achieve preliminary clamping of the annular forging. At this time, the clamping plate 59 can be dropped into the annular forging by controlling the suspension part 2 until the lower sleeve 57 stands on the workbench. Then, the suspension part 2 is controlled to operate and the steel wire rope 51 is dragged in a direction away from the limiting part 4, so that the clamping plate 59 contacts the annular forging. The bottom of the cylinder 2 is controlled to make the steel wire rope 51 in a vertically taut state, and then the suspension part 2 is controlled to continue to operate, and the steel wire rope 51 is always kept in a vertical state until the two clamping plates 59 are tightly clamped on the annular forging. During this process, the steel wire rope 51 will pull the rack 54 to move upward, and through the power transmission of the transmission gear 56, the upper sliding sleeve 52 is contracted into the lower inner cavity 58 of the downward sliding sleeve 57, and the compression spring 55 is elastically deformed to shorten, until the clamping plate 59 is parallel to and abuts against the top of the annular forging, completing the secondary clamping and fixing of the annular forging, realizing the three-point fixation of the annular forging, and further improving the clamping and fixing effect of the annular forging.

[0053] In this embodiment, the limiting portion 4 includes:

[0054] An arc-shaped clamping block 41 hinged to the movable arm 12;

[0055] A flat scraping plate 42 is fixed on the arc-shaped clamping block 41 and is used for flat scraping the annular forging.

[0056] When it is necessary to clamp the annular forging, first control the two clamping telescopic cylinders 13 to extend synchronously and drive the free ends of the two movable arms 12 to move away from each other until the spacing between the flat scraper plates 42 is larger than the outer diameter of the annular forging, and the circular shape of the annular forging is located within the range between the two arc-shaped clamping blocks 41, and then control the two clamping telescopic cylinders 13 to contract synchronously, so that the two arc-shaped clamping blocks 41 and the flat scraper plates 42 are close to each other, and the flat scraper plates 42 are inserted between the annular forging and the workbench under the action of their thrust, so that the two ends of the diameter of the annular forging are located within the top range of the flat scraper plates 42. Since the arc-shaped clamping block 41 and the movable arm 12 are laterally hinged, as the movable arm 12 continues to retract, the arc-shaped clamping block 41 will automatically swing in the horizontal direction to find the two ends of the diameter of the annular forging, thereby improving the efficiency of the clamping and fixing operation of the annular forging.

[0057] In this embodiment, beveled surfaces are provided at the boundaries of the flat scraper plate 42 and the clamping plate 59, and the clamping plate 59 and one side of the clamping plate 59 are both convex. With this design, when the two movable arms 12 are folded and close together, the flat scraper plate 42 can be more easily inserted between the annular forging and the workbench, so that a gap sufficient for the clamping plate 59 to be inserted is reserved between the annular forging and the workbench, so as to facilitate the subsequent control of the telescopic arm 22 to insert the clamping plate 59 into the reserved gap, so as to facilitate the clamping plate 59 and the clamping plate 59 to clamp the annular forging for the second time, realize the three-point clamping and fixation of the annular forging, and further improve the clamping and fixation stability of the annular forging.

[0058] In this embodiment, the two ends of the clamping telescopic cylinder 13 are respectively hinged on the U-shaped support arm 11 and the movable arm 12, and the clamping telescopic cylinder 13 and the U-shaped support arm 11 and the movable arm 12 form a triangle. The advantage of such a design is that the movable arm 12 can be fully deflected flexibly under the drive of the clamping telescopic cylinder 13, thereby improving the range of motion of the deflection action of the movable arm 12, so as to expand the upper and lower limits of the size of the annular forging that can be clamped.

[0059] In this embodiment, the suspension part 2 includes:

[0060] A support frame 21 is fixed on the U-shaped support arm 11 .

[0061] A telescopic arm 22 is hinged in the support frame 21 .

[0062] A rocker arm telescopic cylinder 23 is provided between the support frame 21 and the telescopic arm 22 and is used to drive the telescopic arm 22 to deflect up and down.

[0063] A driving member 24 is used for driving the telescopic arm 22 to extend and retract.

[0064] By controlling the rocker arm telescopic cylinder 23 to shorten and drive the free end of the telescopic arm 22 to tilt up a certain angle, at the same time, controlling the driving member 24 to drive the telescopic arm 22 to extend until the clamping plate 59 is located above the inside of the annular forging, and then controlling the rocker arm telescopic cylinder 23 to extend, so that the free end of the telescopic arm 22 deflects downward until the clamping plate 59 falls into the annular forging and the lower sleeve 57 stands on the workbench, and then controlling the rocker arm telescopic cylinder 23 to shorten and drive the free end of the telescopic arm 22 to deflect upward, and at the same time, controlling the driving member 24 to drive the telescopic arm 22 to retract , so that the clamping plate 59 contacts the bottom of the annular forging and the wire rope 51 is in a vertically taut state, and then the rocker arm telescopic cylinder 23 is controlled to be continuously shortened, so that the free end of the telescopic arm 22 is continuously deflected upward. At the same time, the driving member 24 is controlled to drive the telescopic arm 22 to be continuously extended, and the wire rope 51 is always kept in a vertical state until the two clamping plates 59 are tightly clamped on the annular forging, completing the secondary clamping and fixing of the annular forging, realizing the three-point fixation of the annular forging, and further improving the clamping and fixing effect of the annular forging.

[0065] In this embodiment, the two ends of the rocker arm telescopic cylinder 23 are respectively hinged on the support frame 21 and the telescopic arm 22. The support frame 21 is located between the free end of the telescopic arm 22 and the connection between it and the rocker arm telescopic cylinder 23. Such a design can facilitate the control of the extension or shortening action of the rocker arm telescopic cylinder 23 to drive the free end of the telescopic arm 22 to deflect downward or upward, so as to control the clamping plate 59 and the clamping plate 59 to clamp and fix the annular forging, further improve the clamping and fixing effect of the annular forging, and improve the stability of the annular forging during transportation and position adjustment.

[0066] In this embodiment, the inner wall of the upper inner cavity 53 near the transmission gear 56 is a tooth surface, and the tooth surface of the transmission gear 56 is respectively meshed with the tooth surface of the rack 54 and the upper inner cavity 53. The free end of the telescopic arm 22 is controlled to pull the rack 54 in the vertical direction to drive the upper sliding sleeve 52 to retract into the lower inner cavity 58, so as to shorten the distance between the clamping plates 59 and the clamping plates 59, so as to facilitate the clamping and fixing of annular forgings of different thicknesses. When the wire rope 51 is loosened, the rack 54 is pushed by the elastic force of the compression spring 55 to reset and move downward in the lower inner cavity 58 of the sliding sleeve 57 until the distance between the clamping plates 59 and the clamping plates 59 is at the maximum state, so as to facilitate the clamping of the annular forgings or the removal of the clamping plate 59.

[0067] In this embodiment, the clamping member of the annular forging also includes a connecting block 3 laterally fixed to one side of the U-shaped support arm 11, and a connecting hole 6 is provided on one side of the connecting block 3. This design facilitates connecting it with other driving members, so as to increase the mobility of the U-shaped support arm 11, such as allowing it to rotate and move, conveniently flipping and carrying the annular forging, and facilitating the operator to observe the forging condition of the annular forging, or adjust the position of the annular forging on the workbench, or carry the annular forging to a designated position in the workshop.

[0068] As a second aspect of the present invention, a processing robot is provided, comprising a robot arm and a clamping member of the annular forging as described above, wherein the clamping member is fixed to the free end of the robot arm.

[0069] The above description is only the preferred embodiment of the utility model, and the parts not described in the utility model can be implemented by adopting or drawing on existing technologies. Of course, the above description is not a limitation of the utility model, and the utility model is not limited to the above examples. The changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the utility model should also fall within the protection scope of the utility model.

Claims

1. A clamping piece for an annular forging, characterized in that: The invention comprises a main clamping part (1) for clamping an annular forging and a limiting part (4) arranged on the main clamping part (1) for scooping up and limiting the annular forging, the main clamping part (1) is provided with a hanging part (2), and the hanging part (2) is provided with an auxiliary part (5) for auxiliary clamping of the annular forging; The main clamping portion (1) comprises a U-shaped support arm (11) and movable arms (12) relatively hinged at two ends of the U-shaped support arm (11); a clamping telescopic cylinder (13) for driving the movable arm (12) to deflect is provided between the movable arm (12) and the U-shaped support arm (11); The auxiliary part (5) comprises: A steel wire rope (51) fixed to the output end of the suspension part (2); An upper sliding sleeve (52) slidably mounted on the steel wire suspension rope (51); a rack (54) fixed on the wire rope (51), the rack (54) being slidably connected to an upper inner cavity (53) disposed in the upper sliding sleeve (52), and a transmission gear (56) for power transmission being rotatably disposed between the rack (54) and the inner wall of the upper inner cavity (53); A sliding sleeve is arranged outside the steel wire rope (51) and is used for a compression spring (55) for returning the rack (54) to slide; A lower sleeve (57) is slidably mounted on the outside of the upper sleeve (52), and the upper sleeve (52) is slidably connected to a lower inner cavity (58) disposed on the top of the lower sleeve (57); A clamping plate (59) is respectively fixed on the upper sliding sleeve (52) and the lower sliding sleeve (57).

2. The clamping piece for annular forging according to claim 1, characterized in that: The limiting portion comprises: An arc-shaped clamping block (41) hinged to the movable arm (12); A flat scraping plate (42) fixed on the arc-shaped clamping block (41) is used for flat scraping the annular forging.

3. The clamping piece for annular forging according to claim 2, characterized in that: The boundaries of the flat shovel plate (42) and the clamping plate (59) are both provided with chamfered surfaces, and one side of the two clamping plates (59) is convex.

4. The clamping piece for annular forging according to claim 3, characterized in that: The two ends of the clamping telescopic cylinder (13) are respectively hinged on the U-shaped support arm (11) and the movable arm (12), and the clamping telescopic cylinder (13) and the U-shaped support arm (11) and the movable arm (12) form a triangle.

5. The clamping piece for annular forging according to claim 4, characterized in that: The suspension part (2) comprises: A support frame (21) fixed on the U-shaped support arm (11); A telescopic arm (22) hingedly connected to the support frame (21); A rocker arm telescopic cylinder (23) disposed between the support frame (21) and the telescopic arm (22) and used for driving the telescopic arm (22) to deflect up and down; A driving member (24) for driving the telescopic arm (22) to extend and retract.

6. The clamping piece for annular forging according to claim 5, characterized in that: The two ends of the rocker arm telescopic cylinder (23) are respectively hinged on the support frame (21) and the telescopic arm (22); the support frame (21) is located between the free end of the telescopic arm (22) and the connection between the telescopic arm and the rocker arm telescopic cylinder (23).

7. The clamping piece for annular forging according to claim 6, characterized in that: The inner wall of the upper inner cavity (53) close to the transmission gear (56) is a tooth surface, and the tooth surface of the transmission gear (56) is meshed with the tooth surfaces of the rack (54) and the upper inner cavity (53) respectively.

8. The clamping piece for annular forging according to claim 1, characterized in that: The clamping piece of the annular forging also includes a connecting block (3) transversely fixed to one side of the U-shaped support arm (11), and a connecting hole (6) is provided on one side of the connecting block (3).

9. A processing robot, characterized in that: The invention comprises a mechanical arm and a clamping piece of the annular forging according to any one of claims 1 to 8, wherein the clamping piece is fixed to the free end of the mechanical arm.

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