A high-temperature casting forging clamping mechanical arm

Abstract

The utility model relates to high temperature casting machining device technical field provides a kind of clamping mechanical arm for high temperature casting forging, including substrate, substrate outer surface is fixedly arranged with rotary table, mounting bracket, fixedly arranged in rotary table outer surface, first servo motor is fixedly installed in mounting bracket outer surface, first servo motor output shaft is movably connected with rotary table, first heat-resistant rotating arm is rotatably connected in the inner surface of mounting bracket, the structure that device sets up when clamping high temperature casting is flexibly adjusted device clamping posture and clamping angle, high temperature casting shape is complex and is susceptible to thermal expansion influence in forging process, flexible clamping posture and angle can adapt to casting geometry structure, avoid local stress concentration to cause casting surface to produce indentation, microcrack even structural deformation, improve finished product size precision and mechanical property, avoid uneven residual when carrying out surface deburring and polishing treatment to heavy casting, improve product processing consistency, reduce operator artificial risk.

Description

Technical Field

[0001] This utility model relates to the technical field of high-temperature casting processing equipment, and in particular to a clamping robotic arm for high-temperature casting forging. Background Technology

[0002] High-temperature castings refer to metal components that are used in high-temperature environments or need to withstand high temperatures during manufacturing. They are usually made of materials such as heat-resistant steel and high-temperature alloys. After casting, high-temperature castings need to be removed from the furnace or die-casting machine.

[0003] In the prior art, such as Chinese Publication No. CN216828473U, this utility model provides a forging device for clamping and handling high-temperature castings, including: a base, a worktable fixedly installed on the top of the base, and two sliding grooves formed on the top surface of the worktable. When the second motor rotates, it drives the threaded rod to rotate, which in turn drives the gear to rotate, thereby changing the angle of the clamping plates. This allows the two clamping plates to move closer together for clamping or to separate, facilitating the clamping of the workpiece. The rotation of the first motor drives the lead screw to rotate, thereby changing the position of the mounting plate and thus handling the clamped casting. The cooperation between the sliding grooves and the slider allows for quick replacement of the clamps, facilitating the clamping and fixing of different parts. Simultaneously, the rotating limiting plate allows for quick fixing of the clamps and the worktable, making it convenient for the user.

[0004] While the above-mentioned solutions have the advantages mentioned above, their disadvantages lie in the lack of a structure that allows for flexible adjustment of the clamping posture and angle when handling high-temperature castings. High-temperature castings have complex shapes and are easily affected by thermal expansion during forging. The rigid clamping angle is difficult to adapt to the geometry of the casting, which may cause local stress concentration, resulting in surface indentations, microcracks, or even structural deformation of the casting. This affects the dimensional accuracy and mechanical properties of the finished product. Furthermore, uneven residues may occur when deburring and grinding heavy castings, affecting product processing consistency and increasing the manual risk for operators. Utility Model Content

[0005] The purpose of this invention is to provide a gripping robotic arm for high-temperature casting forging. This invention designs a structure that flexibly adjusts the gripping posture and angle when gripping high-temperature castings. High-temperature castings have complex shapes and are easily affected by thermal expansion during the forging process. The flexible gripping posture and angle can adapt to the geometry of the casting, avoiding local stress concentration that could cause indentations, microcracks, or even structural deformation on the surface of the casting. This improves the dimensional accuracy and mechanical properties of the finished product, avoids uneven residues during surface deburring and grinding of heavy castings, improves product processing consistency, and reduces manual risks for operators.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a gripping robotic arm for high-temperature casting forging, comprising:

[0007] A substrate, wherein a rotary table is fixedly disposed on the outer surface of the substrate, and further includes:

[0008] A mounting bracket is fixedly mounted on the outer surface of the rotary table. A first servo motor is fixedly mounted on the outer surface of the mounting bracket, and the output shaft of the first servo motor is movably connected to the rotary table. A first heat-resistant rotating arm is rotatably connected to the inner surface of the mounting bracket, and an adjusting arm is rotatably connected to the inner surface of the mounting bracket. Two second servo motors are fixedly mounted on the outer surface of the mounting bracket. The output shaft of one second servo motor is fixedly connected to the first heat-resistant rotating arm, and the output shaft of the other second servo motor is fixedly connected to the adjusting arm. A second heat-resistant rotating arm is rotatably connected to the inner surface of the first heat-resistant rotating arm. A connecting rod is rotatably connected to the inner surface of the adjusting arm, and the connecting rod is rotatably connected to the second heat-resistant rotating arm. A connecting shaft is rotatably connected to the inner surface of the second heat-resistant rotating arm. A drive servo motor assembly is fixedly mounted on the outer surface of the second heat-resistant rotating arm, and the output end of the drive servo motor assembly is movably connected to the connecting shaft. A reducer is fixedly mounted on the outer surface of the connecting shaft, and a movable wrist is fixedly mounted on the output end of the reducer. A fixed flange is fixedly mounted on the outer surface of the movable wrist, and a force control sensor mounting plate is fixedly mounted on the outer surface of the fixed flange. The first servo motor... The motor, specifically the first servo motor, works with the rotary table to rotate the mounting bracket relative to the base plate, adjusting the horizontal angle at which the device grips the high-temperature casting. Activating one side of the second servo motor causes the first heat-resistant rotating arm to rotate relative to the mounting bracket, adjusting the vertical angle at which the device grips the high-temperature casting. Activating the other side of the second servo motor causes the adjusting arm to rotate relative to the mounting bracket, which, in turn, rotates the second heat-resistant rotating arm relative to the first heat-resistant rotating arm under the action of the connecting rod. This allows the first heat-resistant rotating arm to rotate relative to the first heat-resistant rotating arm when the device grips the high-temperature casting. The included angle of the second heat-resistant rotating arm is adjusted, the drive servo motor group is turned on, and the output end of the drive servo motor group drives the connecting shaft to rotate relative to the second heat-resistant rotating arm. The reducer is turned on to drive the movable wrist and the fixed flange to rotate relative to the connecting shaft. The fixed flange is used to install the high-temperature casting positioning and clamping mechanism. The force control sensor installed on the force control sensor mounting plate inside the fixed flange records and optimizes the grinding path and pressure parameters when the device deburrs and grinds the surface of the high-temperature casting, dynamically adjusts the posture, pressure and feed speed of the robotic arm, eliminates differences in human experience and improves the consistency of the device process.

[0009] Preferably, two auxiliary spring cylinders are rotatably connected to the outer surface of the mounting bracket. Both auxiliary spring cylinders are rotatably connected to the first heat-resistant rotating arm. The two auxiliary spring cylinders extend and retract when the first heat-resistant rotating arm rotates relative to the mounting bracket, thereby improving the stability of the first heat-resistant rotating arm rotating relative to the mounting bracket.

[0010] Preferably, a base is fixedly disposed on the bottom outer surface of the substrate, and positioning plates are fixedly disposed on the outer surface of the four corners of the base. The base, together with multiple positioning plates, positions and supports the substrate.

[0011] Preferably, each of the multiple positioning plates has a reinforcing rib fixedly disposed on its outer surface, and the multiple reinforcing ribs are fixedly connected to the outer surface of the substrate. The multiple reinforcing ribs improve the connection strength and stability between the substrate and the multiple positioning plates.

[0012] Preferably, the outer surface of each of the multiple positioning plates is provided with multiple mounting screw holes, which are symmetrically arranged on the multiple positioning plates. The multiple mounting screw holes are used in conjunction with external bolts to secure the multiple positioning plates in place.

[0013] Preferably, two lifting plates are fixedly installed on the outer surface of the mounting frame. The two lifting plates are symmetrically arranged on the outer surface of the mounting frame, and the two lifting plates work in conjunction with an external lifting mechanism to lift and transport the device.

[0014] Preferably, a first pair of zero sheet metal is fixedly disposed on the outer surface of the substrate, and a second pair of zero sheet metal is fixedly disposed on the outer surface of the mounting bracket. The first pair of zero sheet metal, together with the second pair of zero sheet metal, performs auxiliary reference position zeroing calibration on the substrate relative to the mounting bracket.

[0015] Preferably, a first limiter plate is fixedly disposed on the outer surface of the substrate, and a second limiter plate is fixedly disposed on the outer surface of the substrate. The first limiter plate cooperates with the second limiter plate to constrain and protect the rotation range of the mounting frame, preventing the mounting frame from rotating beyond the limit.

[0016] Compared with the prior art, the advantages and positive effects of this utility model are as follows:

[0017] This invention provides a device with a structure that allows for flexible adjustment of the clamping posture and angle when gripping high-temperature castings. High-temperature castings have complex shapes and are easily affected by thermal expansion during forging. The flexible clamping posture and angle can adapt to the geometry of the casting, avoiding local stress concentration that could cause indentations, microcracks, or even structural deformation on the casting surface. This improves the dimensional accuracy and mechanical properties of the finished product, avoids uneven residues during surface deburring and grinding of heavy castings, improves product processing consistency, and reduces manual risks for operators. Attached Figure Description

[0018] Figure 1A three-dimensional structural diagram of a gripping robotic arm for high-temperature casting forging provided by this utility model;

[0019] Figure 2 A side perspective view of a gripping robotic arm for high-temperature casting forging provided by this utility model;

[0020] Figure 3 A side view of the mechanical arm for gripping high-temperature castings and forging provided by this utility model;

[0021] Figure 4 This utility model provides a gripping robotic arm for high-temperature casting and forging. Figure 1 A magnified three-dimensional structural diagram at point A in the diagram.

[0022] Legend:

[0023] 1. Base plate; 2. Base; 3. Mounting bracket; 4. First servo motor; 5. First heat-resistant rotating arm; 6. Second servo motor; 7. Connecting rod; 8. Adjusting arm; 9. Lifting plate; 10. Auxiliary spring cylinder; 11. Fixed flange; 12. Reducer; 13. Connecting shaft; 14. Second heat-resistant rotating arm; 15. Drive servo motor assembly; 16. First zeroing sheet metal; 17. Rotary table; 18. Second zeroing sheet metal; 19. Reinforcing rib plate; 20. First limiter plate; 21. Positioning plate; 22. Mounting screw hole; 23. Second limiter plate; 24. Force control sensor mounting plate; 25. Movable wrist. Detailed Implementation

[0024] To better understand the above-mentioned objectives, features, and advantages of this utility model, the present utility model will be further described below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0025] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0026] Example 1, such as Figures 1 to 4As shown, this utility model provides a gripping robotic arm for high-temperature casting forging, including a base plate 1, a rotary table 17 fixedly mounted on the outer surface of the base plate 1, a mounting frame 3 fixedly mounted on the outer surface of the rotary table 17, a first servo motor 4 fixedly mounted on the outer surface of the mounting frame 3, the output shaft of the first servo motor 4 being movably connected to the rotary table 17, a first heat-resistant rotating arm 5 rotatably connected to the inner surface of the mounting frame 3, an adjusting arm 8 rotatably connected to the inner surface of the mounting frame 3, and two second servo motors 6 fixedly mounted on the outer surface of the mounting frame 3, the output shaft of one second servo motor 6 being fixedly connected to the first heat-resistant rotating arm 5, and the output shaft of the other second servo motor 6 being fixedly connected to the adjusting arm 8. The first heat-resistant rotating arm 5 is rotatably connected to the inner surface of the second heat-resistant rotating arm 14. The inner surface of the adjusting arm 8 is rotatably connected to the connecting rod 7, which is rotatably connected to the second heat-resistant rotating arm 14. The inner surface of the second heat-resistant rotating arm 14 is rotatably connected to the connecting shaft 13. The outer surface of the second heat-resistant rotating arm 14 is fixedly mounted with a drive servo motor assembly 15. The output end of the drive servo motor assembly 15 is movably connected to the connecting shaft 13. The outer surface of the connecting shaft 13 is fixedly mounted with a reducer 12. The output end of the reducer 12 is fixedly provided with a movable wrist 25. The outer surface of the movable wrist 25 is fixedly provided with a fixed flange 11. The outer surface of the fixed flange 11 is fixedly provided with a force control sensor mounting plate 2. 4. Turn on the first servo motor 4. The output of the first servo motor 4, in conjunction with the rotary table 17, drives the mounting frame 3 to rotate relative to the base plate 1, adjusting the horizontal orientation angle of the device clamping the high-temperature casting. Turn on one side of the second servo motor 6. The output of the second servo motor 6 drives the first heat-resistant rotating arm 5 to rotate relative to the mounting frame 3, adjusting the vertical orientation angle of the device clamping the high-temperature casting. Turn on the other side of the second servo motor 6. The output of the second servo motor 6 drives the adjusting arm 8 to rotate relative to the mounting frame 3, which, in conjunction with the connecting rod 7, drives the second heat-resistant rotating arm 14 to rotate relative to the first heat-resistant rotating arm 5, adjusting the first heat-resistant rotating arm when the device clamps the high-temperature casting. Adjust the angle between the 5th and the second heat-resistant rotating arm 14, turn on the drive servo motor group 15, and drive the connecting shaft 13 to rotate relative to the second heat-resistant rotating arm 14. Turn on the reducer 12 to drive the movable wrist 25 and the fixed flange 11 to rotate relative to the connecting shaft 13. The fixed flange 11 is used to install the high-temperature casting positioning and clamping mechanism. The force control sensor installed on the force control sensor mounting plate 24 inside the fixed flange 11 records and optimizes the grinding path and pressure parameters when the device deburrs and grinds the surface of the high-temperature casting, dynamically adjusts the posture, pressure and feed speed of the robotic arm, eliminates differences in human experience and improves the consistency of the device process.

[0027] Furthermore, such as Figures 1 to 4As shown, two auxiliary spring cylinders 10 are rotatably connected to the outer surface of the mounting bracket 3. Both auxiliary spring cylinders 10 are rotatably connected to the first heat-resistant rotating arm 5. The two auxiliary spring cylinders 10 extend and retract when the first heat-resistant rotating arm 5 rotates relative to the mounting bracket 3, thereby improving the stability of the first heat-resistant rotating arm 5 rotating relative to the mounting bracket 3.

[0028] Furthermore, such as Figures 1 to 4 As shown, a base 2 is fixedly installed on the bottom outer surface of the substrate 1, and positioning plates 21 are fixedly installed on the outer surface of the four corners of the base 2. The base 2, together with multiple positioning plates 21, positions and supports the substrate 1.

[0029] Furthermore, such as Figures 1 to 4 As shown, reinforcing ribs 19 are fixedly provided on the outer surface of multiple positioning plates 21. The multiple reinforcing ribs 19 are fixedly connected to the outer surface of the substrate 1. The multiple reinforcing ribs 19 improve the connection strength and stability between the substrate 1 and the multiple positioning plates 21.

[0030] Furthermore, such as Figures 1 to 4 As shown, multiple mounting screw holes 22 are provided on the outer surface of multiple positioning plates 21. The multiple mounting screw holes 22 are symmetrically arranged on multiple positioning plates 21. The multiple mounting screw holes 22 are used in conjunction with external bolts to tighten and fix the multiple positioning plates 21.

[0031] Furthermore, such as Figures 1 to 4 As shown, two lifting plates 9 are fixedly installed on the outer surface of the mounting frame 3. The two lifting plates 9 are symmetrically arranged on the outer surface of the mounting frame 3. The two lifting plates 9 work in conjunction with the external lifting mechanism to lift and move the device.

[0032] Furthermore, such as Figures 1 to 4 As shown, a first pair of zero sheet metal 16 is fixedly provided on the outer surface of the substrate 1, and a second pair of zero sheet metal 18 is fixedly provided on the outer surface of the mounting bracket 3. The first pair of zero sheet metal 16, together with the second pair of zero sheet metal 18, performs auxiliary reference position zeroing calibration on the substrate 1 relative to the mounting bracket 3.

[0033] Furthermore, such as Figures 1 to 4 As shown, a first limiter plate 20 is fixedly disposed on the outer surface of the substrate 1, and a second limiter plate 23 is fixedly disposed on the outer surface of the substrate 1. The first limiter plate 20 cooperates with the second limiter plate 23 to constrain and protect the rotation range of the mounting frame 3, preventing the mounting frame 3 from rotating beyond the limit.

[0034] Working principle: The first servo motor 4 is activated, and its output, in conjunction with the rotary table 17, drives the mounting frame 3 to rotate relative to the base plate 1, adjusting the horizontal angle at which the device grips the high-temperature casting. The second servo motor 6 on one side is activated, and its output drives the first heat-resistant rotating arm 5 to rotate relative to the mounting frame 3, adjusting the vertical angle at which the device grips the high-temperature casting. Two auxiliary spring cylinders 10 extend and retract as the first heat-resistant rotating arm 5 rotates relative to the mounting frame 3, improving the stability of the rotation. The second servo motor 6 on the other side is activated, and its output drives the adjusting arm 8 to rotate relative to the mounting frame 3. This, in conjunction with the connecting rod 7, drives the second heat-resistant rotating arm 14 to rotate relative to the first heat-resistant rotating arm 5. When the device grips the high-temperature casting, the first heat-resistant rotating arm 5 and the second... The included angle of the second heat-resistant rotating arm 14 is adjusted, and the drive servo motor group 15 is turned on. The output end of the drive servo motor group 15 drives the connecting shaft 13 to rotate relative to the second heat-resistant rotating arm 14. The reducer 12 is turned on, which drives the movable wrist 25 and the fixed flange 11 to rotate relative to the connecting shaft 13. The fixed flange 11 is used to install the high-temperature casting positioning and clamping mechanism. The force control sensor installed on the force control sensor mounting plate 24 inside the fixed flange 11 records and optimizes the grinding path and pressure parameters when the device performs deburring and grinding on the surface of the high-temperature casting. It dynamically adjusts the posture, pressure and feed speed of the robotic arm, eliminates the difference in human experience and improves the consistency of the device process. When the device clamps the high-temperature metal casting from the furnace or die casting machine, it can flexibly adjust the clamping posture and clamping angle, improve the practicality and applicability of the device and reduce the manual risk of the operator.

[0035] The above are merely preferred embodiments of this utility model and are not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments for application in other fields. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from the technical solution of this utility model shall still fall within the protection scope of this utility model.

Claims

1. A gripping robotic arm for high-temperature casting forging, comprising: The substrate (1), wherein a rotary table (17) is fixedly disposed on the outer surface of the substrate (1), is characterized in that it further comprises: Mounting bracket (3) is fixedly mounted on the outer surface of the rotary table (17). A first servo motor (4) is fixedly mounted on the outer surface of the mounting bracket (3). The output shaft of the first servo motor (4) is movably connected to the rotary table (17). A first heat-resistant rotating arm (5) is rotatably connected to the inner surface of the mounting bracket (3). An adjusting arm (8) is rotatably connected to the inner surface of the mounting bracket (3). Two second servo motors (6) are fixedly mounted on the outer surface of the mounting bracket (3). The output shaft of one second servo motor (6) is fixedly connected to the first heat-resistant rotating arm (5), and the output shaft of the other second servo motor (6) is fixedly connected to the adjusting arm (8). A second heat-resistant rotating arm is rotatably connected to the inner surface of the first heat-resistant rotating arm (5). (14) A connecting rod (7) is rotatably connected to the inner surface of the adjusting arm (8). The connecting rod (7) is rotatably connected to the second heat-resistant rotating arm (14). A connecting shaft (13) is rotatably connected to the inner surface of the second heat-resistant rotating arm (14). A drive servo motor group (15) is fixedly installed on the outer surface of the second heat-resistant rotating arm (14). The output end of the drive servo motor group (15) is movably connected to the connecting shaft (13). A reducer (12) is fixedly installed on the outer surface of the connecting shaft (13). A movable wrist (25) is fixedly provided at the output end of the reducer (12). A fixed flange (11) is fixedly provided on the outer surface of the movable wrist (25). A force control sensor mounting plate (24) is fixedly provided on the outer surface of the fixed flange (11).

2. The gripping robotic arm for high-temperature casting forging according to claim 1, characterized in that: The mounting bracket (3) has two auxiliary spring cylinders (10) rotatably connected to its outer surface. Both auxiliary spring cylinders (10) are rotatably connected to the first heat-resistant rotating arm (5).

3. The gripping robotic arm for high-temperature casting forging according to claim 1, characterized in that: A base (2) is fixedly provided on the bottom outer surface of the substrate (1), and a positioning plate (21) is fixedly provided on the outer surface of the four corners of the base (2).

4. The gripping robotic arm for high-temperature casting forging according to claim 3, characterized in that: Each of the positioning plates (21) has a reinforcing rib (19) fixedly provided on its outer surface, and each of the reinforcing ribs (19) is fixedly connected to the outer surface of the substrate (1).

5. The gripping robotic arm for high-temperature casting forging according to claim 4, characterized in that: Multiple mounting screw holes (22) are provided on the outer surface of the multiple positioning plates (21), and the multiple mounting screw holes (22) are symmetrically arranged on the multiple positioning plates (21).

6. The gripping robotic arm for high-temperature casting forging according to claim 1, characterized in that: Two lifting plates (9) are fixedly installed on the outer surface of the mounting frame (3), and the two lifting plates (9) are symmetrically arranged on the outer surface of the mounting frame (3).

7. The gripping robotic arm for high-temperature casting forging according to claim 1, characterized in that: The outer surface of the substrate (1) is fixedly provided with a first pair of zero sheet metal (16), and the outer surface of the mounting bracket (3) is fixedly provided with a second pair of zero sheet metal (18).

8. The gripping robotic arm for high-temperature casting forging according to claim 1, characterized in that: A first limiter plate (20) is fixedly disposed on the outer surface of the substrate (1), and a second limiter plate (23) is fixedly disposed on the outer surface of the substrate (1).

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