Robot clamping jaw for forging

Abstract

The utility model relates to the technical field of mechanical forging, in particular to a robot clamping jaw for forging. Comprising a mechanical arm mechanism and a clamping mechanism, the clamping mechanism comprises a mounting base, an oil cylinder, a linkage assembly and a clamping assembly, the mounting base is rotationally connected with the mechanical arm mechanism, the oil cylinder is arranged in the mounting base, the movable end of the oil cylinder is connected with the linkage assembly, and the other end of the linkage assembly is connected with the clamping assembly; the clamping assembly is matched with the linkage assembly to clamp an object. And the forging requirements of complex environments can be met, the clamping force is large, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical forging, in particular to a robot clamp for forging. Background Art

[0002] With the advent of Industry 4.0, all industries are gradually moving towards intelligent machines replacing manual labor. Currently, the forging industry is also increasingly using industrial robots to completely replace manual labor to complete the entire forging process. The complex forging environment places very high demands on the environmental adaptability of forging industrial robots, especially their end effectors, which are required to have stronger environmental adaptability.

[0003] Forging robot end effectors are often required to be lightweight, heat-resistant, highly protective, stable, and reliable. Currently, common robotic grippers on the market primarily utilize linkage mechanisms and translational cylinder structures. Linkage mechanism grippers are categorized as motor-screw, pneumatic, and hydraulic. Motor-screw drive grippers clearly cannot meet the demands of complex forging environments. Pneumatic grippers typically have weaker gripping forces and are more suitable for forging micro-sized workpieces. Translational cylinder grippers are often larger and heavier, making them less cost-effective for the robot's limited load.

[0004] To this end, the utility model proposes a forging robot gripper, which can adapt to the forging needs of complex environments and has a large clamping force, thereby achieving the purpose of improving production efficiency. Summary of the Invention

[0005] The utility model aims to solve the problems existing in the prior art and provides a forging robot gripper.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A robot gripper for forging includes a robotic arm mechanism and a clamping mechanism, wherein the clamping mechanism includes a mounting seat, a cylinder, a linkage assembly and a clamping assembly. The mounting seat is rotatably connected to the robotic arm mechanism. A cylinder is provided inside the mounting seat, the movable end of the cylinder is connected to the linkage assembly, the other end of the linkage assembly is connected to the clamping assembly, and the clamping assembly cooperates with the linkage assembly to clamp an object.

[0008] Furthermore, the linkage assembly includes a connecting seat, a pushing connecting rod, and a clamping connecting rod. The connecting seat is fixedly connected to the movable end of the oil cylinder. The pushing connecting rod is hinged on both sides of the connecting seat. The other end of the pushing connecting rod is hinged to the clamping connecting rod, and the other end of the clamping connecting rod is hinged to the clamping assembly.

[0009] Furthermore, a clamping claw palm is provided on the periphery of the pushing connecting rod, one end of the clamping claw palm is fixedly connected to the mounting seat, and the pushing connecting rod movably passes through the clamping claw palm.

[0010] Furthermore, the clamping assembly includes a pair of fingers and a pair of clamping blocks, the finger heads gradually narrow towards the end portions, and L-shaped grooves are provided on opposite sides of the pair of fingers, and the detachable clamping blocks are connected in the L-shaped grooves.

[0011] Furthermore, the clamping link is L-shaped, the short side end of the clamping link is hinged to the pushing link, the long side end of the clamping link is hinged to the finger end, and the L corner point of the clamping link is hinged to the palm frame of the clamping claw.

[0012] Furthermore, the upper and lower frames of the gripper palm close to one end of the gripping assembly are hingedly connected to auxiliary connecting rods, and the other end of the auxiliary connecting rod is hingedly connected to the fingers.

[0013] Furthermore, a heat insulation plate is provided between the gripper palm and the mounting seat.

[0014] Furthermore, the movable end of the oil cylinder passes through the palm of the clamp, and a guide sleeve is fixed at the passing position.

[0015] Furthermore, an oil cylinder heat insulation plate is provided outside the mounting seat, and a piston rod heat insulation plate is fixedly provided on the upper and lower surfaces of the clamping jaw palm.

[0016] Furthermore, the robotic arm mechanism includes a base, an upper arm and a lower arm, the upper arm is rotatably arranged on the base, the upper arm end is rotatably connected to the lower arm, and the lower arm end is rotatably connected to the clamping mechanism.

[0017] Compared with the existing technology, the forging robot gripper provided by the utility model adopts a simple mechanical structure to clamp objects, and its advantages are:

[0018] 1. The use of heat-insulating materials for protection greatly reduces the damage to other important components caused by high temperature environment and improves the stability of equipment operation;

[0019] 2. The connecting rod structure has been optimized, so that the cylinder piston rod pushes the clamping method when it is extended, which improves the actual utilization rate of the cylinder. Under the same conditions, the size and weight of the robot gripper are reduced;

[0020] 3. The parallelogram linkage design enables the grippers to open and close in parallel, greatly ensuring that the robot's repeatable positioning accuracy is not affected by its gripping components;

[0021] 4. The structure is compact and suitable for forging of medium and small workpieces. Its light weight reduces the cost of the robot.

[0022] 5. The structure is relatively simple and the reliability is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional diagram of the utility model;

[0024] Figure 2 This is a three-dimensional diagram of the clamping mechanism of the utility model;

[0025] Figure 3 This is a cross-sectional view of the clamping mechanism of the utility model;

[0026] In the figure: 1. Mounting base, 2. Cylinder, 3. Heat shield, 4. Guide sleeve, 5. Gripper palm, 6. Connecting base, 7. Push connecting rod, 8. Clamping connecting rod, 9. Auxiliary connecting rod, 10. Finger, 11. Clamping block, 12. Cylinder heat shield, 13. Piston rod heat shield, 14. Base, 15. Upper arm, 16. Lower arm. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and 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 should not be understood as limiting the present invention.

[0029] Example 1, as Figure 1 、 Figure 2 and Figure 3 As shown, a robot gripper for forging includes a robotic arm mechanism and a clamping mechanism, wherein the clamping mechanism includes a mounting base 1, a cylinder 2, a linkage assembly and a clamping assembly, wherein the mounting base 1 is rotatably connected to the robotic arm mechanism, a cylinder 2 is provided inside the mounting base 1, a movable end of the cylinder 2 is connected to a linkage assembly, and the other end of the linkage assembly is connected to the clamping assembly, and the clamping assembly cooperates with the linkage assembly to clamp an object.

[0030] Through the arrangement of the above-mentioned solution, the movable end is extended by the oil cylinder 2, pushing the linkage component and the clamping component, and the object is clamped by the cooperation of the pushing component and the linkage component.

[0031] Example 2, as Figure 3 As shown, the linkage assembly includes a connecting seat 6, a pushing link 7, and a clamping link 8. The connecting seat 6 is fixedly connected to the movable end of the oil cylinder 2. The pushing link 7 is hinged on both sides of the connecting seat 6. The other end of the pushing link 7 is hinged to the clamping link 8, and the other end of the clamping link 8 is hinged to the clamping assembly.

[0032] A clamping palm 5 is provided on the periphery of the pushing connecting rod 7 , one end of the clamping palm 5 is fixedly connected to the mounting seat 1 , and the pushing connecting rod 7 movably passes through the clamping palm 5 .

[0033] A piston rod heat insulation plate 13 is fixedly provided on the upper and lower surfaces of the clamping jaw palm 5.

[0034] The movable end of the oil cylinder 2 passes through the clamping claw palm 5, and a guide sleeve 4 is fixed at the passing position.

[0035] In this embodiment, the gripper palm 5 is in the shape of a palm with the upper and lower surfaces and left and right surfaces hollowed out. The hollowed-out parts on the left and right surfaces facilitate the movement of the connecting rod 7, and the hollowed-out parts on the upper and lower surfaces are used to install the piston rod heat insulation plate 13. The piston rod heat insulation plate 13 is fixedly installed on the upper and lower surfaces of the gripper palm 5 to cover the upper and lower hollowed-out parts of the gripper palm 5, thereby reducing the damage to the piston rod of the oil cylinder 2 caused by the high temperature radiation in the forging environment.

[0036] The guide sleeve 4 is installed in the center hole of the gripper palm 5, and the piston rod of the cylinder 2 passes through the guide sleeve 4 and is connected to the connecting seat 6. The guide sleeve 4 guides the piston rod of the cylinder 2, thereby preventing the cylinder 2 from being damaged due to excessive bending moment of the piston rod of the cylinder 2 when the robot gripper operates in different postures.

[0037] In Example 3, the clamping assembly includes a pair of fingers 10 and a pair of clamping blocks 11. The heads of the fingers 10 gradually narrow toward the ends. L-shaped grooves are provided on opposite sides of the pair of fingers 10. The detachable clamping blocks 11 are connected in the L-shaped grooves.

[0038] In this embodiment, the clamping block 11 can clamp circular parts, and has a concave arc surface in the middle that matches the cylinder. Different clamping blocks can be removed and replaced to clamp workpieces of different shapes.

[0039] Example 4, please continue to see Figure 3The clamping link 8 is L-shaped, with the short end of the clamping link 8 hinged to the push link 7, the long end of the clamping link 8 hinged to the end of the finger 10, and the L corner of the clamping link 8 hinged to the frame of the gripper palm 5. The clamping link 8 can rotate around the L corner.

[0040] In Example 5, in order to make the gripper more stable when gripping objects, the upper and lower sides of the gripper palm 5 close to one end of the clamping assembly are hinged with auxiliary connecting rods 9, and the other end of the auxiliary connecting rod 9 is hinged to the finger 10.

[0041] In this embodiment, there are two pairs of auxiliary links 9 symmetrically distributed on the upper and lower sides of the clamping link 8 , which play a role in stabilizing the gripper palm 5 and fingers 10 .

[0042] The clamping link 8 is hinged to the pushing link 7, the gripper palm 5 and the finger 10 respectively, so that the gripper palm 5, the clamping link 8, the auxiliary link 9 and the finger 10 form a parallelogram linkage mechanism, so that the finger 10 can open and close in parallel, thereby improving the stability of the robot gripper workpiece.

[0043] When the movable end of the oil cylinder 2 is extended, the pushing link 7 is pushed outward. Since the pushing link 7 and the clamping link 8 are hinged, the short side of the clamping link 8 will be driven to gradually move to the frame position in the longitudinal direction of the clamping claw palm 5, and the long side of the clamping link 8 will shrink inward. Since the long side of the clamping link 8 is hinged to the finger 10, it will also drive the finger 10 to shrink inward, thereby achieving the purpose of clamping the workpiece.

[0044] In Example 6, in order to reduce the heat transfer between the mounting base 1 and the clamping jaw palm 5 , a heat insulation plate 3 is fixedly provided between the clamping jaw palm 5 and the mounting base 1 .

[0045] In order to reduce the high temperature radiation during forging that may affect the performance of the oil cylinder 2 or damage the oil cylinder 2, an oil cylinder heat insulation plate 12 is provided outside the mounting base 1. At the same time, it can also prevent smoke and dust in the forging environment from entering the oil cylinder 2, thereby protecting the oil cylinder 2.

[0046] The heat insulation board 3, the oil cylinder heat insulation board 12 and the piston rod heat insulation board 13 can be made of heat insulation materials such as ceramic fiber, quartz fiber, composite materials, etc. for heat insulation protection.

[0047] The robotic arm mechanism includes a base 14, an upper arm 15 and a lower arm 16. The upper arm 15 is rotatably arranged on the base 14. The end of the upper arm 15 is rotatably connected to the lower arm 15. The end of the lower arm 16 is rotatably connected to the clamping mechanism.

[0048] The robot gripper is mounted on the ground via a base 14 , and the movement of each mechanism is controlled by a robot gripper control system.

[0049] Working principle: See Figure 3 The clamping mechanism clamps objects by driving the oil cylinder 2. When an object is to be clamped, the required clamping block 11 is replaced according to the object. The control system controls the movable end of the oil cylinder 2 to extend forward, driving the pair of push links 7 to move. The push links 7 push the short sides of the pair of clamping links 8 outward, and the long sides of the clamping links 8 inward, driving the pair of fingers 10 to move inward toward each other, thus clamping the workpiece. The workpiece is then clamped to the desired position by rotating the upper arm 15 and the lower arm 16.

[0050] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A forging robot gripper, comprising a robotic arm mechanism and a clamping mechanism, characterized in that: The mechanical arm mechanism is rotatably connected to the clamping mechanism, and the clamping mechanism comprises a mounting seat (1), an oil cylinder (2), a linkage assembly and a clamping assembly. The mounting seat (1) is rotatably connected to the mechanical arm mechanism. An oil cylinder (2) is provided inside the mounting seat (1), and a movable end of the oil cylinder (2) is connected to the linkage assembly. The other end of the linkage assembly is connected to the clamping assembly, and the clamping assembly cooperates with the linkage assembly to clamp an object.

2. A forging robot gripper according to claim 1, characterized in that: The linkage assembly comprises a connecting seat (6), a pushing connecting rod (7), and a clamping connecting rod (8); the connecting seat (6) is fixedly connected to the movable end of the oil cylinder (2); the two sides of the connecting seat (6) are respectively hinged to the pushing connecting rod (7); the other end of the pushing connecting rod (7) is hinged to the clamping connecting rod (8); and the other end of the clamping connecting rod (8) is hinged to the clamping assembly; A clamping claw palm (5) is provided on the periphery of the pushing connecting rod (7), one end of the clamping claw palm (5) is fixedly connected to the mounting seat (1), and the pushing connecting rod (7) movably passes through the clamping claw palm (5); The clamping assembly comprises a pair of fingers (10) and a pair of clamping blocks (11), wherein the heads of the fingers (10) gradually narrow toward the ends, and L-shaped grooves are provided on opposite sides of the pair of fingers (10), and the detachable clamping blocks (11) are respectively connected in the L-shaped grooves.

3. The forging robot gripper according to claim 2, characterized in that: The clamping link (8) is L-shaped, the short side end of the clamping link (8) is hinged to the pushing link (7), the long side end of the clamping link (8) is hinged to the end of the finger (10), and the L corner point of the clamping link (8) is hinged to the frame of the clamping claw palm (5).

4. The forging robot gripper according to claim 2, characterized in that: The upper and lower frames of the gripping claw palm (5) close to one end of the gripping assembly are both hingedly connected to auxiliary connecting rods (9), and the other end of the auxiliary connecting rod (9) is hingedly connected to the finger (10).

5. The forging robot gripper according to claim 4, characterized in that: A heat insulation plate (3) is provided between the clamping jaw palm (5) and the mounting seat (1).

6. The forging robot gripper according to claim 2, characterized in that: The movable end of the oil cylinder (2) passes through the clamping claw palm (5), and a guide sleeve (4) is fixed at the position where the clamping claw palm (5) is passed through.

7. The forging robot gripper according to claim 2, characterized in that: An oil cylinder heat insulation plate (12) is provided outside the mounting seat (1), and piston rod heat insulation plates (13) are fixedly provided on the upper and lower surfaces of the clamping jaw palm (5).

8. The forging robot gripper according to claim 1, characterized in that: The mechanical arm mechanism comprises a base (14), a large arm (15) and a small arm (16); the large arm (15) is rotatably arranged on the base (14); the end of the large arm (15) is rotatably connected to the small arm (16); and the end of the small arm (16) is rotatably connected to the clamping mechanism.

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