Full-hydraulic heavy-load forging robot mechanism

Abstract

The full-hydraulic heavy-load forging robot mechanism comprises a first mechanical arm, a mounting groove is formed in the upper side of the middle of the first mechanical arm, a second mechanical arm is rotationally connected to the top end of the inner side of the mounting groove, and a first hydraulic cylinder is rotationally connected to the lower middle portion of the inner side of the mounting groove; the output end of the first hydraulic cylinder is rotationally connected to the middle-upper portion of the second mechanical arm, a connecting piece is arranged on the middle-lower side of the top wall of the second mechanical arm, and a second hydraulic cylinder is rotationally connected to the inner side of the connecting piece. According to the full-hydraulic heavy-load forging robot mechanism, when a forging material needs to be transferred, after a mechanical claw is moved to the front side of the forging material, an electromagnet is started to adsorb the forging material, then a servo motor is started, an output shaft of the servo motor rotates to enable a driving gear to rotate, and in the rotating process of the driving gear, two sets of driven gears on the front side rotate; and therefore, the two sets of clamping jaws clamp the side edges of the forged object while the transfer rod swings, the clamping stability in the robot transfer process is improved, and the forged object is prevented from falling off.

Description

Technical Field

[0001] The utility model relates to the technical field of forging, in particular to a full hydraulic heavy-load forging robot mechanism. Background Art

[0002] Forging is a processing method that uses a forging machine to apply pressure to a metal blank to cause it to undergo plastic deformation in order to obtain forgings with certain mechanical properties, shapes, and sizes. It is one of the two major components of forging and stamping. Forging can eliminate defects such as as-cast porosity produced in the metal smelting process and optimize the microstructure. At the same time, due to the preservation of complete metal flow lines, the mechanical properties of forgings are generally better than those of castings of the same material. For important parts in related machinery with high loads and severe working conditions, forgings are mostly used, except for simpler shapes that can be made of rolled plates, profiles, or welded parts.

[0003] In the forging industry, in the prior art, operators have long been using manual clamping of materials to allow the processed materials to flow between various processes and equipment. Due to the characteristics of the forging industry, the processed materials are generally high-temperature objects. Operators manually clamping high-temperature processed materials is not only labor-intensive but also poses a risk of burns. Therefore, a fully hydraulic heavy-duty forging robot structure is needed to replace manual transportation of forgings. Utility Model Content

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] The utility model discloses a full hydraulic heavy-load forging robot mechanism, comprising a base, wherein an automatic transfer mechanism is provided on the upper side of the base;

[0006] The automatic transfer mechanism includes a first robotic arm, a mounting groove is provided on the upper middle side of the first robotic arm, the top inner side of the mounting groove is rotatably connected to the second robotic arm, the middle and lower inner side of the mounting groove is rotatably connected to the first hydraulic cylinder, the output end of the first hydraulic cylinder is rotatably connected to the middle and upper part of the second robotic arm, a connecting piece is provided on the middle and lower side of the top wall of the second robotic arm, the inner side of the connecting piece is rotatably connected to the second hydraulic cylinder, the output end of the second hydraulic cylinder is rotatably connected to the third robotic arm, a connecting plate is provided at the front end of the third robotic arm, a servo motor is fixedly connected to the left side of the top wall of the connecting plate, the output shaft of the servo motor is fixedly connected to the driving gear, and the left and right sides of the middle part of the bottom wall of the connecting plate are rotatably connected to driven gears, the two groups of driven gears are meshed with each other, and the middle part of the two groups of driven gears away from each other is fixedly connected to a transfer rod, and the top of the transfer rod is rotatably connected to a clamping claw.

[0007] As a preferred technical solution of the present invention, the first mechanical arm is arranged on the inner side of the mounting member, the third mechanical arm is rotatably connected to the second mechanical arm, and an electromagnet is fixedly connected to the middle of the front wall of the connecting plate.

[0008] As an optimal technical solution of the present invention, the driving gear is meshed with the driven gear on the left, and the middle part of the bottom wall of the clamp is rotatably connected with a connecting rod, and the other end of the connecting rod is rotatably connected to the left and right sides of the front end of the bottom wall of the connecting plate.

[0009] As a preferred technical solution of the present invention, the mounting member is fixedly connected to the middle of the top wall of the turntable, and a fixing plate is fixedly connected to the middle of the right peripheral wall of the turntable.

[0010] As a preferred technical solution of the present invention, a driving motor is fixedly connected to the middle portion of the inner bottom wall of the base, and the output shaft of the driving motor is fixedly connected to the turntable.

[0011] As a preferred technical solution of the present invention, a plurality of groups of annularly distributed mounting plates are fixedly connected to the lower side of the outer periphery of the base, and screws are threadedly connected to the middle portions of the mounting plates.

[0012] As a preferred technical solution of the present invention, the top ends of the screws are fixedly connected with baffles, and the baffles are clearance-matched with the base.

[0013] The beneficial effects of the utility model are:

[0014] 1. This fully hydraulic heavy-duty forging robot mechanism moves the mechanical claw to the front of the forging when it is necessary to transfer the forging material, activates the electromagnet to absorb the forging, and then activates the servo motor. The servo motor output shaft rotates to rotate the driving gear, which in turn rotates the two sets of driven gears on the front side, thereby causing the transfer rod to swing and the two sets of grippers to clamp the sides of the forging. This improves the gripping stability during the robot's transfer process and prevents the forging from falling.

[0015] 2. This fully hydraulic heavy-load forging robot mechanism rotates the screw in the middle of the mounting plate, causing the baffle to move upward during the rotation of the screw. When the baffle moves to the same height as the fixed plate, it can block the turntable during the operation of the drive motor, thereby limiting the robot's transfer angle and preventing the turntable from rotating too much during the rotation of the drive motor, resulting in the inability to grasp the forging object normally, thereby improving the practicality of the forging robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 This is a side view schematic diagram of the overall structure of a fully hydraulic heavy-load forging robot mechanism of the present invention;

[0018] Figure 2 This is a rear view schematic diagram of the overall structure of a fully hydraulic heavy-load forging robot mechanism of the present invention;

[0019] Figure 3 This is a schematic diagram of the gripper structure of a fully hydraulic heavy-duty forging robot mechanism of the present invention;

[0020] Figure 4 This is a schematic diagram of the rotating structure of a fully hydraulic heavy-load forging robot mechanism of the present utility model.

[0021] In the figure: 1. Base; 2. Driving motor; 3. Turntable; 4. Mounting part; 5. Fixing plate; 6. Mounting plate; 7. Screw; 8. Baffle; 9. First robotic arm; 10. Mounting slot; 11. First hydraulic cylinder; 12. Second robotic arm; 13. Connecting part; 14. Second hydraulic cylinder; 15. Third robotic arm; 16. Servo motor; 17. Driving gear; 18. Driven gear; 19. Transfer rod; 20. Connecting plate; 21. Connecting rod; 22. Gripper; 23. Electromagnet; 24. Automatic transfer mechanism. DETAILED DESCRIPTION

[0022] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention and are not used to limit the present invention.

[0023] Example: Figure 1-4 As shown, the utility model is a full hydraulic heavy-load forging robot mechanism, comprising a base 1, an automatic transfer mechanism 24 is provided on the upper side of the base 1;

[0024] The automatic transfer mechanism 24 includes a first robotic arm 9, a mounting groove 10 is provided on the upper middle side of the first robotic arm 9, the mounting groove 10 provides space for the installation of the first hydraulic cylinder 11 and the second robotic arm 12, the top inner side of the mounting groove 10 is rotatably connected to the second robotic arm 12, the middle and lower inner side of the mounting groove 10 is rotatably connected to the first hydraulic cylinder 11, the output end of the first hydraulic cylinder 11 is extended and retracted during the operation process so that the second robotic arm 12 can rotate up and down inside the mounting groove 10, the output end of the first hydraulic cylinder 11 is rotatably connected to the middle and upper part of the second robotic arm 12, a connecting piece 13 is provided on the middle and lower side of the top wall of the second robotic arm 12, the second hydraulic cylinder 14 is rotatably connected to the inner side of the connecting piece 13, and the operation of the second hydraulic cylinder 14 can make the third robotic arm 15 Swing, the output end of the second hydraulic cylinder 14 is rotatably connected to the third mechanical arm 15, and a connecting plate 20 is provided at the front end of the third mechanical arm 15. A servo motor 16 is fixedly connected to the left side of the top wall of the connecting plate 20. During the operation of the servo motor 16, the driving gear 17 can rotate. The rotation of the driving gear 17 rotates the front driven gear 18, thereby causing the clamping jaws 22 on both sides to approach each other to clamp the forging. The output shaft of the servo motor 16 is fixedly connected to the driving gear 17. The left and right sides of the middle of the bottom wall of the connecting plate 20 are rotatably connected to the driven gears 18. The two groups of driven gears 18 are meshed with each other. The middle of the two groups of driven gears 18 away from each other are fixedly connected to the transfer rod 19, and the top of the transfer rod 19 is rotatably connected to the clamping jaws 22.

[0025] Among them, the first robotic arm 9 is arranged on the inner side of the mounting part 4, the third robotic arm 15 is rotatably connected to the second robotic arm 12, and an electromagnet 23 is fixedly connected to the middle of the front wall of the connecting plate 20. By setting the electromagnet 23, it can cooperate with the clamping claw 22 to play a better fixing role.

[0026] Among them, the driving gear 17 is meshed and connected with the driven gear 18 on the left side, and the middle part of the bottom wall of the clamping jaw 22 is rotatably connected with a connecting rod 21, and the other end of the connecting rod 21 is rotatably connected to the left and right sides of the front end of the bottom wall of the connecting plate 20. By setting the connecting rod 21 to connect the connecting plate 20 and the clamping jaw 22, the clamping jaw 22 can clamp the object during the rotation of the driven gear 18.

[0027] The mounting member 4 is fixedly connected to the middle of the top wall of the turntable 3 , and a fixing plate 5 is fixedly connected to the middle of the right wall of the outer periphery of the turntable 3 . The fixing plate 5 can be blocked by the baffle 8 during the rotation of the turntable 3 .

[0028] Among them, a driving motor 2 is fixedly connected to the middle of the inner bottom wall of the base 1, and the output shaft of the driving motor 2 is fixedly connected to the turntable 3. During the operation of the driving motor 2, the output shaft rotates to rotate the turntable 3, thereby rotating the top mechanical claw.

[0029] Among them, a plurality of groups of annularly distributed mounting plates 6 are fixedly connected to the lower side of the outer periphery of the base 1, and the middle of the mounting plates 6 are all threadedly connected with screws 7. During the rotation of the screws 7, the baffle 8 can be moved up and down.

[0030] Among them, the top ends of the screw rods 7 are fixedly connected with baffles 8, and the baffles 8 are clearance-matched with the base 1, so that the rotation angle of the turntable 3 is limited after the two sets of baffles 8 are raised.

[0031] Working principle: When it is necessary to transfer the forging material, move the mechanical claw to the front side of the forging and start the electromagnet 23 to adsorb the forging, then start the servo motor 16, the output shaft of the servo motor 16 rotates to rotate the driving gear 17, and the two sets of driven gears 18 on the front side rotate during the rotation of the driving gear 17, so that the transfer rod 19 swings while the two sets of clamps 22 clamp the side of the forging, thereby improving the clamping stability during the robot's transportation process, rotate the screw 7 in the middle of the mounting plate 6, and the baffle 8 moves upward during the rotation of the screw 7. When the baffle 8 moves to the same height as the fixed plate 5, it can block the turntable 3 during the operation of the drive motor 2, thereby limiting the robot's transportation angle, and avoiding the situation where the turntable 3 rotates too much during the rotation of the drive motor 2, resulting in the inability to normally grasp the forging.

[0032] Finally, it should be noted that in the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as a limitation on the present invention.

[0033] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0034] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A fully hydraulic heavy-load forging robot mechanism, comprising a base (1), characterized in that: An automatic transport mechanism (24) is provided on the upper side of the base (1); The automatic transfer mechanism (24) includes a first mechanical arm (9), a mounting groove (10) is provided on the upper middle side of the first mechanical arm (9), the top inner side of the mounting groove (10) is rotatably connected to the second mechanical arm (12), the lower middle side of the inner side of the mounting groove (10) is rotatably connected to the first hydraulic cylinder (11), the output end of the first hydraulic cylinder (11) is rotatably connected to the upper middle side of the second mechanical arm (12), a connecting piece (13) is provided on the lower middle side of the top wall of the second mechanical arm (12), the inner side of the connecting piece (13) is rotatably connected to the second hydraulic cylinder (14), and the second hydraulic cylinder (14) The output end is rotatably connected to the third mechanical arm (15). A connecting plate (20) is provided at the front end of the third mechanical arm (15). A servo motor (16) is fixedly connected to the left side of the top wall of the connecting plate (20). The output shaft of the servo motor (16) is fixedly connected to the driving gear (17). The left and right sides of the middle of the bottom wall of the connecting plate (20) are both rotatably connected to driven gears (18). The two groups of driven gears (18) are meshed with each other. The middle of the two groups of driven gears (18) away from each other are both fixedly connected to a transfer rod (19). The top of the transfer rod (19) is both rotatably connected to a clamping claw (22).

2. A fully hydraulic heavy-load forging robot mechanism according to claim 1, characterized in that: The first mechanical arm (9) is arranged inside the mounting member (4), the third mechanical arm (15) is rotatably connected to the second mechanical arm (12), and an electromagnet (23) is fixedly connected to the middle of the front wall of the connecting plate (20).

3. A fully hydraulic heavy-load forging robot mechanism according to claim 1, characterized in that: The driving gear (17) is meshed with the left driven gear (18), and the middle of the bottom wall of the clamping claw (22) is rotatably connected to a connecting rod (21), and the other end of the connecting rod (21) is rotatably connected to the left and right sides of the front end of the bottom wall of the connecting plate (20).

4. A fully hydraulic heavy-load forging robot mechanism according to claim 2, characterized in that: The mounting member (4) is fixedly connected to the middle portion of the top wall of the turntable (3), and a fixing plate (5) is fixedly connected to the middle portion of the outer right wall of the turntable (3).

5. A fully hydraulic heavy-load forging robot mechanism according to claim 1, characterized in that: A driving motor (2) is fixedly connected to the middle portion of the inner bottom wall of the base (1), and an output shaft of the driving motor (2) is fixedly connected to the turntable (3).

6. A fully hydraulic heavy-load forging robot mechanism according to claim 1, characterized in that: A plurality of annularly distributed mounting plates (6) are fixedly connected to the lower side of the outer periphery of the base (1), and the middle of each mounting plate (6) is threadedly connected to a screw rod (7).

7. A fully hydraulic heavy-load forging robot mechanism according to claim 6, characterized in that: The top ends of the screw rods (7) are fixedly connected with baffles (8), and the baffles (8) are clearance-matched with the base (1).

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