Tooling for forging manipulator

Abstract

The utility model relates to the technical field of mechanical forging, in particular to a tooling for a forging manipulator. Comprising a power unit, a clamping unit and a control unit, the clamping unit comprises a clamping jaw connecting part, connecting rods, a sliding guide block, a first supporting arm and a finger assembly, the ends of the connecting rods are symmetrically hinged to the periphery of the clamping jaw connecting part, and the other ends of the two connecting rods are hinged to the middle of the first supporting arm; one end of the first supporting arm is hinged to the sliding guide block, the other end of the first supporting arm is hinged to the finger assembly, the output end of the power unit is connected with the sliding guide block, and the finger assembly is provided with an inductive sensor for inducting an object and a force sensor for detecting pressure. And the inductive sensor and the force sensor are electrically connected with the control unit. And the forging requirements of complex environments can be met, the clamping force is large, and the purpose of improving the production efficiency is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical forging, and particularly relates to an end effector for a forging manipulator. Background Art

[0002] Since the forging process involves a high-temperature environment, some grippers cannot adapt to the high-temperature environment and have complex structures. Moreover, some have insufficient gripping force and cannot effectively prevent forgings from slipping or being damaged during handling. For this reason, the utility model provides an end effector for a forging manipulator, which can meet the forging requirements in a complex environment, has a large clamping force, and achieves the purpose of improving production efficiency. Summary of the Invention

[0003] The purpose of the utility model is to solve the problems existing in the prior art, and provide an end effector for a forging manipulator.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0005] An end effector for a forging manipulator includes a power unit, a clamping unit, and a control unit. The clamping unit includes a gripper connecting part, a connecting rod, a sliding guide block, a first support arm, and a finger assembly. The end of the connecting rod is symmetrically hinged to the periphery of the gripper connecting part. The other ends of the two connecting rods are hinged to the middle of the first support arm. One end of the first support arm is hinged to the sliding guide block, and the other end of the first support arm is hinged to the finger assembly. The output end of the power unit is connected to the sliding guide block. An induction sensor for sensing an object and a force sensor for detecting the magnitude of pressure are arranged on the finger assembly. The induction sensor and the force sensor are electrically connected to the control unit.

[0006] Further, the power unit includes a cylinder, a support cylinder, a first connecting block, and a second connecting block. The cylinder is fixedly connected inside the support cylinder. The support cylinder is connected to the first connecting block away from the gripper connecting part, and the support cylinder is fixedly connected to the second connecting block near the gripper connecting part. The second connecting block is fixedly connected to the gripper connecting part.

[0007] Further, the output end of the cylinder passes through the second connecting block and is slidably connected to the gripper connecting part.

[0008] Further, protective support plates are symmetrically and fixedly connected to the gripper connecting part.

[0009] Further, limit plates are fixedly connected to the ends of the two protective support plates, and a protective bottom plate is fixedly connected to one side of the limit plates.

[0010] Further, the sliding guide block is slidably arranged in the space surrounded by the gripper connecting part, the protective support plates, and the limit plates.

[0011] Further, the output end of the cylinder is fixedly connected to the sliding guide block.

[0012] Further, there are two sets of finger assemblies, including a finger mounting plate, a heat insulation member, and fingers. A heat insulation member is arranged between the fingers and the finger mounting plate.

[0013] Further, second support arms are symmetrically hinged on the sliding guide block. One end of each second support arm is hinged to the finger mounting plate, and the two sets of second support arms are arranged in parallel with the two sets of first support arms.

[0014] Compared with the existing technology, a end effector for a forging manipulator provided by the present utility model adopts a simple mechanical structure, and its advantages are as follows:

[0015] High precision. Compared with the existing system fixture, this jaw system has the advantages that the clamping force can be freely adjusted, the clamping force is real-time feedback, and when the dropped workpiece is detected, the machine will stop immediately and give an alarm for protection;

[0016] High efficiency. Compared with the traditional robot end effector, the application of heat insulation materials has extremely high applicability to harsh environments such as high temperature and dust, so as to ensure stable operation for a long time at high temperature;

[0017] The structure is simple, easy to disassemble, install and maintain, reducing the operation and maintenance cost and improving the equipment availability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structure diagram of the present utility model;

[0019] Figure 2 It is a sectional structure diagram of the present utility model.

[0020] In the figure: 1, jaw connection part; 2, connecting rod; 3, sliding guide block; 4, first support arm; 5, second support arm; 6, cylinder; 7, support cylinder; 8, first connection block; 9, second connection block; 10, protective support plate; 11, limiting plate; 12, finger mounting plate; 13, finger. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0022] In the description of the present utility model, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0023] Embodiment 1, as Figure 1 and Figure 2 shown, an end effector for a forging manipulator includes a power unit, a clamping unit and a control unit. The clamping unit includes a jaw connecting portion 1, a connecting rod 2, a sliding guide block 3, a first support arm 4 and a finger assembly. The outer periphery of the jaw connecting portion 1 symmetrically hinges the ends of the connecting rods 2. The other end of the connecting rod 2 hinges the middle of the first support arm 4. One end of the first support arm 4 hinges the sliding guide block 3, and the other end of the first support arm 4 hinges the finger assembly. The output end of the power unit is connected to the sliding guide block 3. An induction sensor for sensing an object and a force sensor for detecting the magnitude of force are installed on the finger assembly. The induction sensor and the force sensor are electrically connected to the control unit.

[0024] In this embodiment, the model of the induction sensor is SMC ITV1050-312L. The induction sensor can sense an object, or when the object drops, the induction sensor transmits this information to the control unit, causing the end effector to stop operating and emit an alarm sound. The force sensor can measure the pressure exerted by the finger assembly on the object and can feedback it to the control unit. After the processing and analysis by the control unit, it can determine how much force the cylinder needs to output to clamp the workpiece.

[0025] Through the setting of the above solution, the power unit pushes the sliding guide block 3 and the first support arm 4 to move, and then drives the clamping unit. Through the cooperation of the sliding guide block 3, the first support arm 4, the finger assembly and the sensors on the finger assembly, an object is clamped.

[0026] Embodiment 2, as Figure 2 shown, the power unit includes a cylinder 6, a support cylinder 7, a first connection block 8 and a second connection block 9. The cylinder 6 is fixedly connected inside the support cylinder 7. The support cylinder 7 is connected to the first connection block 8 away from the jaw connecting portion 1, and the support cylinder 7 is fixedly connected to the second connection block 9 near the jaw connecting portion 1. The second connection block 9 is fixedly connected to the jaw connecting portion 1.

[0027] The first connection block 8 is fixedly installed on the rotating arm of the manipulator (not shown in the figure). The rotation of the rotating arm drives the rotation of the entire end effector, and then the movement of the cylinder 6 drives the clamping unit to clamp an object.

[0028] The output end of the cylinder 6 penetrates through the second connecting block 9 and is slidably connected to the jaw connecting portion 1. A lubricating sleeve is provided at the position where the output end of the cylinder 6 slides on the jaw connecting portion 1, making the sliding of the output end of the cylinder 6 smoother.

[0029] Continue to refer to Figure 1 , symmetrically fixed to the jaw connecting portion 1 are protective support plates 10. The protective support plates 10 and the connecting rod 2 are arranged in a staggered manner on the jaw connecting portion 1. The connecting rod 2 is in an H shape in this embodiment, facilitating hinged connection with the jaw connecting portion 1 and the first support arm 4 through a pin shaft.

[0030] The ends of the two protective support plates 10 are fixedly connected with a limiting plate 11. On one side of the limiting plate 11, a protective bottom plate is fixedly connected. The protective bottom plate can isolate the intrusion of high temperature on the limiting plate 11 here.

[0031] Combined with Figure 1 and Figure 2 , it can be seen that the sliding guide block 3 is slidably arranged in the space surrounded by the jaw connecting portion 1, the protective support plate 10 and the limiting plate 11. The output end of the cylinder 6 is fixedly connected to the sliding guide block 3.

[0032] The sliding guide block 3 slides in the space surrounded by the jaw connecting portion 1, the protective support plate 10 and the limiting plate 11. When the cylinder pushes the sliding guide block 3 to slide, since the sliding guide block 3 is hinged to the first support arm 4 and the second support arm 5, the first support arm 4 and the second support arm 5 are driven to move forward accordingly.

[0033] The finger assembly includes a finger mounting plate 12, a heat insulation member and fingers 13. A heat insulation member is arranged between the fingers 13 and the finger mounting plate 12.

[0034] There are two groups of finger assemblies, symmetrically arranged on both sides of the sliding guide block 3. The fingers 13 are circular arcs in this embodiment and can be replaced with different fingers according to the different shapes of the objects.

[0035] By controlling the telescopic movement of the cylinder 6 through the control unit, the two groups of fingers 13 are driven to move away from or close to each other.

[0036] In order to make the connection between the finger assembly and the sliding guide block 3 more stable, two groups of second support arms 5 are arranged between the sliding guide block 3 and the finger mounting plate 12. The two groups of second support arms 5 are symmetrically arranged on both sides of the sliding guide block 3. The two ends of the second support arms 5 are respectively hinged to the sliding guide block and the finger mounting plate 12 through pin shafts. The two groups of the second support arms 5 are arranged in parallel with the two groups of the first support arms 4.

[0037] In this embodiment, the heat insulation piece is an HP8 mica plate, which is a new material with high temperature resistance and corrosion resistance characteristics. Combined with a carefully designed structure, it can significantly improve the durability and reliability of the gripper, enabling it to work stably for a long time in extreme environments.

[0038] Working principle: Refer to Figure 1 , through the output of the output end of the cylinder 6, the movement of the sliding guide block 3 is pushed. The sliding guide block 3 drives the first support arm 4 and the second support arm 5 to move forward. Due to the restraint of the connecting rod 2 and the limitation of the limiting plate 11, the two fingers will move in the opposite direction. When encountering the object to be clamped, the telescopic end of the cylinder 6 starts to retract, and the two fingers move towards each other to start clamping the object. The clamping force of the cylinder 6 can be adjusted according to workpieces of different masses. The mass can be obtained by the force sensor and transmitted to the control unit, and the control unit then controls the cylinder to output different magnitudes of force, thereby controlling the magnitude of the force of the end effector. The clamping force calculation formula of the end effector is:

[0039] ,

[0040] ,

[0041] where μ is the friction coefficient between the end effector and the workpiece, m represents the mass of the workpiece, with the unit of kg, g is the acceleration due to gravity, approximately equal to 10 m / s 2 , α is the acceleration generated during dynamic movement, generally taken as 4 m / s 2 , S is the safety factor, usually taken as 4.

[0042] And is the force to be output by the cylinder. The output force of the cylinder can be converted into the clamping force of the end effector, and the clamping force of the end effector can be calculated by the control unit according to the feedback of the force sensor , and then the control unit controls how much force the cylinder outputs to clamp the workpiece. When the clamping action is completed, the object is clamped to the specified location, the output end of the cylinder 6 extends forward, and the two fingers move in the opposite direction and the object falls into the specified position.

[0043] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent replacements or changes, and should be covered within the protection scope of the present invention.

Claims

1. An end effector for a forging manipulator, comprising a power unit, a clamping unit and a control unit, characterized in that: The clamping unit includes a jaw connecting part (1), a connecting rod (2), a sliding guide block (3), a first support arm (4) and a finger assembly. The outer periphery of the jaw connecting part (1) is symmetrically hinged to the ends of the connecting rods (2). The other ends of the two connecting rods (2) are hinged to the middle of the first support arm (4). One end of the first support arm (4) is hinged to the sliding guide block (3). The other end of the first support arm (4) is hinged to the finger assembly. The output end of the power unit is connected to the sliding guide block (3). An induction sensor for sensing an object and a force sensor for detecting the magnitude of pressure are provided on the finger assembly. The induction sensor and the force sensor are electrically connected to the control unit.

2. The end effector for a forging manipulator according to claim 1, wherein: The power unit includes a cylinder (6), a support cylinder (7), a first connecting block (8) and a second connecting block (9). The cylinder (6) is fixedly connected inside the support cylinder (7). The support cylinder (7) away from the jaw connecting part (1) is connected to the first connecting block (8). The support cylinder (7) near the jaw connecting part (1) is fixedly connected to the second connecting block (9). The second connecting block (9) is fixedly connected to the jaw connecting part (1).

3. The end effector for a forging manipulator according to claim 2, characterized in that: The output end of the cylinder (6) passes through the second connecting block (9) and is slidably connected to the jaw connecting part (1).

4. The end effector for a forging manipulator according to claim 3, wherein: The jaw connecting part (1) is symmetrically and fixedly connected with protective support plates (10).

5. The end effector for a forging manipulator according to claim 4, characterized in that: The ends of the two protective support plates (10) are fixedly connected with a limiting plate (11). One side of the limiting plate (11) is fixedly connected with a protective bottom plate.

6. The end effector for a forging manipulator according to claim 5, wherein: The sliding guide block (3) is slidably arranged in the space surrounded by the jaw connecting part (1), the protective support plates (10) and the limiting plate (11).

7. The end effector for a forging manipulator according to claim 6, characterized in that: The sliding guide block (3) is fixedly connected to the output end of the cylinder (6).

8. The end effector for a forging manipulator according to claim 1, wherein: The finger assembly is in two groups. Each group includes a finger mounting plate (12), a heat insulation part and a finger (13). A heat insulation part is arranged between the finger (13) and the finger mounting plate (12).

9. The end effector for a forging manipulator according to claim 8, wherein: The two groups of finger assemblies approach or move away from each other under the control of the control unit.

10. The end effector for a forging manipulator according to claim 5, characterized in that: The second support arms (5) are symmetrically hinged to the sliding guide block (3). One end of the second support arm (5) is hinged to the finger mounting plate (12). The two groups of second support arms (5) are arranged in parallel with the two groups of first support arms (4).

Images