Large blade automated forging robot end effector

Abstract

The utility model discloses large -scale vane automatic forging robot end -pick-up belongs to clamp technical field, large -scale vane automatic forging robot end -pick-up, include: connecting plate, clamping block end two, clamping end one and drive assembly, connecting plate connects moving device, clamping block end two includes clamping block, and the convex surface that is compatible with vane surface is provided with to clamping block outer end, and the concave surface that is compatible with vane surface is provided with to clamping end one outer end, through the convex surface and the concave surface on clamping block end two and clamping end one and the curved surface of vane are in conformity, and two movable blocks on drive assembly are respectively driven clamping block end two and clamping end one and are clamped to vane, and it can make the surface stress of vane even when clamping, prevent its deformation from happening, and a plurality of limiting components are all set up on clamping end one and clamping block end two, when clamping end one and clamping block end two clamping vane, and the friction block will be through the thrust of telescopic spring and be closely attached vane surface to can increase its friction.

Description

Technical Field

[0001] This utility model relates to the field of fixture technology, and more specifically, to an end effector for a large blade automated forging robot. Background Technology

[0002] Large blades typically refer to metal blades that are long (possibly several meters) and have complex shapes. The end effector of the large blade automated forging robot is an end fixture used in the automated forging production line of blades, specifically for gripping, handling and positioning large blades (such as wind turbine blades, aero-engine blades, etc.).

[0003] Chinese Patent Publication No. CN218800673U discloses a thin-walled blade clamping device. This solution involves placing the thin-walled blade to be processed onto the positioning pins on the right-side clamping unit during the clamping process. First, the blade is positioned using the concave-convex surface formed by the positioning pins on one side of the clamping unit. After positioning, the other end of the blade is pressed inward by the clamping unit on the other side. At this point, the clamping operation of the blade is completed through the clamping units on both sides. Furthermore, the blade's contact with multiple sets of positioning pins improves the clamping effect and ensures the stability of subsequent processing.

[0004] The above scheme uses multiple matrix-distributed positioning posts to apply force to the surface of the blade for clamping. Large metal blades are usually heavy, so multiple points of pressure are used for clamping. To obtain sufficient clamping force, the pressure needs to be increased. Since the blade has curvature, excessive pressure can easily cause slight deformation, thus affecting its performance.

[0005] Therefore, an end effector for automated forging robots of large blades is proposed to address the above problems. Utility Model Content

[0006] This utility model provides an end effector for an automated forging robot for large blades, which can improve the problems existing in related technologies: large metal blades are usually heavy, so multiple points of pressure are applied for clamping. To obtain sufficient clamping force, the pressure needs to be increased. The blades have curvature, and excessive pressure can easily cause slight deformation, thereby affecting their performance.

[0007] To solve the above problems, the present invention adopts the following technical solution.

[0008] This application provides an end effector for a large-scale automated forging robot, comprising: a connecting plate, a second clamping block, a first clamping end, and a drive assembly. The connecting plate is connected to a moving device. The second clamping block includes a clamping block, the outer end of which is provided with a convex surface adapted to the blade surface. The outer end of the first clamping end is provided with a concave surface adapted to the blade surface. The outer end of the clamping block is provided with equally spaced mounting slots. A limiting component for increasing friction with the blade surface is provided inside the mounting slots. The drive assembly is used to simultaneously drive the clamping block and the first clamping end to move and clamp the blade. The clamping block and the first clamping end are driven to move closer to each other by the drive assembly. The clamping block and the first clamping end clamp the blade by respectively fitting the two sides of the blade surface with the convex and concave surfaces.

[0009] The technical solutions described in this application embodiment have at least the following technical effects:

[0010] By having the convex and concave surfaces on the clamping end two and clamping end one fit against the curved surface of the blade, the two movable blocks on the drive assembly respectively drive the clamping end two and clamping end one to clamp a pair of blades. When clamping, the blade surface can be evenly stressed, preventing deformation. At the same time, multiple limiting components are set on both clamping end one and clamping end two. When clamping end one and clamping end two clamp the blade, the friction block will press tightly against the blade surface through the thrust of the telescopic spring, thereby increasing its friction.

[0011] In some embodiments, the assembly further includes a mounting bracket, wherein the connecting plate is fixedly mounted on the top of the mounting bracket, and the drive assembly further includes a fixing plate, wherein the fixing plate is fixedly mounted on the outer end of the mounting bracket.

[0012] In some embodiments, clamping plates are fixedly installed at both ends of the fixing plate, a fixing seat is fixedly installed at the outer end of the fixing plate, a sliding rod is fixedly installed between the fixing seat and the two clamping plates, a double-headed cylinder is installed on the top of the fixing seat, and a drive seat is installed at both output ends of the double-headed cylinder.

[0013] In some embodiments, the drive assembly further includes two movable blocks, which are slidably connected to a slide rod. Mounting seat two and mounting seat one are respectively fixedly installed on the outer ends of the two movable blocks. Clamping end one is fixedly installed on the outer end of mounting seat two, and clamping block is fixedly installed on the outer end of mounting seat one. The two drive seats are respectively fixed on the top of the two movable blocks.

[0014] In some embodiments, the clamping block is hollow inside, and a support plate is fixedly installed inside the clamping block.

[0015] In some embodiments, the limiting component includes a mounting sleeve, the outer end of which is fitted with a retaining ring, and the mounting sleeve is mounted inside the mounting groove via the retaining ring.

[0016] In some embodiments, the limiting component further includes a slider, which is slidably connected to the inner wall of the mounting sleeve. A movable rod is fixedly installed on the top of the slider, and a friction block is rotatably installed on the top of the movable rod. A telescopic spring is provided inside the mounting sleeve, and the two ends of the telescopic spring abut against the slider and the inner side of the mounting sleeve, respectively. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is an exploded view of the drive component of this utility model;

[0019] Figure 3 This is a cross-sectional view of the active clamping block of this utility model;

[0020] Figure 4 This is a cross-sectional view of the limiting component of this utility model.

[0021] Explanation of the labels in the diagram:

[0022] 1. Mounting bracket;

[0023] 2. Connecting plate;

[0024] 3. Drive assembly; 31. Clamping plate; 32. Fixing plate; 33. Fixing base; 34. Movable block; 35. Double-headed cylinder; 36. Drive base; 37. Slide rod;

[0025] 4. Mounting base one;

[0026] 5. Mounting base two;

[0027] 6. Clamping end one;

[0028] 7. Clamping block end two; 71. Clamping block; 72. Support plate; 73. Convex surface; 74. Mounting groove;

[0029] 8. Limiting component; 81. Mounting sleeve; 82. Friction block; 83. Telescopic spring; 84. Snap ring; 85. Slider; 86. Movable rod;

[0030] 9. Concave surface. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0032] Please see Figure 1 - Figure 4 A large-scale automated forging robot end effector for blades includes: a connecting plate 2, a second clamping block 7, a first clamping end 6, and a drive assembly 3. The connecting plate 2 is connected to a moving device. The second clamping block 7 includes a clamping block 71. The outer end of the clamping block 71 is provided with a convex surface 73 adapted to the blade surface. The outer end of the first clamping end 6 is provided with a concave surface 9 adapted to the blade surface. The outer end of the clamping block 71 is provided with equally spaced mounting grooves 74. The mounting grooves 74 are provided with a limiting component 8 for increasing the friction with the blade surface. The drive assembly 3 is used to simultaneously drive the clamping block 71 and the first clamping end 6 to move and clamp the blade. The clamping block 71 and the first clamping end 6 are driven to move closer to each other by the drive assembly 3. The clamping block 71 and the first clamping end 6 are clamped by the convex surface 73 and the concave surface 9 respectively against the two sides of the blade surface.

[0033] It also includes: a mounting bracket 1, a connecting plate 2 fixedly mounted on the top of the mounting bracket 1, and a drive assembly 3 including a fixing plate 32, which is fixedly mounted on the outer end of the mounting bracket 1.

[0034] The device in this solution is mainly used as a pick-up end fixture when a robot is used to transfer and move large blades during the forging process. A connecting plate 2 is fixed on the top of the mounting frame 1. The connecting plate 2 is mainly used to connect the end effector or moving device of the pick-up robot, so that it can drive the device to move in three axes on the X, Y and Z axes. A drive assembly 3 is installed on the outer end of the mounting frame 1. On the outer end of the drive assembly 3, mounting base 2 5 and mounting base 1 4 are installed. Clamping end 2 7 and clamping end 1 6 are respectively installed on mounting base 1 4 and mounting base 2 5 for clamping the blade.

[0035] The clamping end 7 and the clamping end 6 have similar structures, only their external shapes are different. Limiting components 8 are installed on both the clamping end 6 and the clamping end 7. Corresponding convex surfaces 73 and concave surfaces 9 are respectively provided on the clamping block 71 and the clamping end 6. Since the blade is curved, when the clamping block 71 and the clamping end 6 clamp each other, their convex surfaces 73 and concave surfaces 9 can precisely correspond to the two sides of the blade, allowing them to fit against the surface. Through the contact between the convex and concave surfaces on the clamping end 7 and the clamping end 6 and the curved surface of the blade, the two movable blocks 34 on the drive component 3 respectively drive the clamping end 7 and the clamping end 6. The blade is clamped, which ensures uniform force on the blade surface and prevents deformation. Multiple limiting components 8 are provided on both the clamping end 6 and the clamping block end 7. When the blade is clamped by the clamping end 6 and the clamping block end 7, the friction block 82 will press tightly against the blade surface through the thrust of the telescopic spring 83, thereby increasing the friction. This allows the clamping end 6 and the clamping block end 7 to reduce the clamping force while still allowing for clamping movement, further reducing the force on the blade. At the same time, since the surfaces of the blade, the clamping block end 7, and the clamping end 6 are all curved, it also prevents the blade from slipping and achieves an interlocking effect.

[0036] It is worth mentioning that the interiors of clamping end 2 7 and clamping end 1 6 are hollow, which not only reduces weight, but also reduces material consumption and lowers costs, as both clamping end 2 7 and clamping end 1 6 are produced using 3D metal printing technology. Since clamping end 1 6 and clamping end 2 7 are matched with the blade, they need to be replaced when producing blades of different specifications. Therefore, using 3D metal printing technology can reduce costs and production time compared to traditional CNC technology.

[0037] Please see Figure 1 and Figure 2 The fixed plate 32 has clamping plates 31 fixedly installed at both ends, and a fixed seat 33 fixedly installed at the outer end of the fixed plate 32. A sliding rod 37 is fixedly installed between the fixed seat 33 and the two clamping plates 31. A double-headed cylinder 35 is installed on the top of the fixed seat 33, and a drive seat 36 is installed on both output ends of the double-headed cylinder 35.

[0038] The drive assembly 3 also includes two movable blocks 34, which are slidably connected to the slide rod 37. Mounting seat 2 5 and mounting seat 1 4 are fixedly installed on the outer ends of the two movable blocks 34, respectively. Clamping end 1 6 is fixedly installed on the outer end of mounting seat 2 5, clamping block 71 is fixedly installed on the outer end of mounting seat 1 4, and two drive seats 36 are fixedly fixed on the top of the two movable blocks 34.

[0039] The drive assembly 3 in this solution is mainly used to drive the clamping end 6 and the clamping block end 7. The fixing plate 32 is fixed to the outer end of the mounting frame 1 so that it can move with the mounting frame 1. The clamping plates 31 are fixed at both ends of the fixing plate 32. The fixing seat 33 is fixed in the middle of the fixing plate 32. Multiple sliding rods 37 are fixed on both sides of the fixing seat 33 and between the two clamping plates 31. Movable blocks 34 are slidably installed on the sliding rods 37 at both ends so that they can slide on the sliding rods 37. The double-headed cylinder 35 is fixed on the top of the fixing seat 33. Compared with ordinary cylinder pistons, the double-headed cylinder 35 has rods extending from both sides, and both ends can transmit force and movement. The drive seats 36 are fixed on both output ends. The two drive seats 36 are respectively fixed on the top of the two movable blocks 34. The mounting seat 4 and the mounting seat 5 are respectively fixed on the two movable blocks 34. Driven by the double-headed cylinder 35, the mounting seat 4 and the mounting seat 5 can move in opposite directions at the same time.

[0040] Please see Figure 3 The clamping block 71 is hollow inside, and a support plate 72 is fixedly installed inside the clamping block 71.

[0041] In this design, the internal mechanisms of clamping end 7 and clamping end 6 are the same, but their external shapes are different. Both have multiple limiting components 8 installed on their outer ends. The interiors of clamping block 71 and clamping end 6 are hollow. Inside clamping block 71, multiple horizontally and vertically intersecting support plates 72 are fixed, mainly to strengthen the structural strength of clamping block 71. The interior of clamping end 6 is also the same. The outer surface of clamping block 71 is provided with a convex surface 73, while the outer surface of clamping end 6 is provided with a concave surface 9. The convex surface 73 and the concave surface 9 are adapted to the surface of the blades being produced. Clamping block 71 and clamping end 6 are respectively bolted to mounting base 4 and mounting base 5, so that they can move with mounting base 4 and mounting base 5. Multiple matrix-distributed mounting slots 74 are opened on clamping block 71, mainly for installing limiting components 8. The clamping end 6 is also the same.

[0042] Please see Figure 3 and Figure 4 The limiting component 8 includes a mounting sleeve 81, and a retaining ring 84 is mounted on the outer end of the mounting sleeve 81. The mounting sleeve 81 is mounted inside the mounting groove 74 through the retaining ring 84.

[0043] The limiting component 8 also includes a slider 85, which is slidably connected to the inner wall of the mounting sleeve 81. A movable rod 86 is fixedly installed on the top of the slider 85, and a friction block 82 is rotatably installed on the top of the movable rod 86. A telescopic spring 83 is provided inside the mounting sleeve 81, and the two ends of the telescopic spring 83 abut against the slider 85 and the inner side of the mounting sleeve 81, respectively.

[0044] The limiting component 8 in this solution is mainly used to increase the friction during clamping. The interior of the mounting sleeve 81 is hollow, and multiple retaining rings 84 are fixed at the outer end of the mounting sleeve 81. The diameter of the retaining rings 84 is slightly larger than the diameter of the mounting groove 74. When the mounting sleeve 81 is inserted into the mounting groove 74, it can be locked in place. The slider 85 is slidably installed inside the mounting sleeve 81. The top of the slider 85 is fixedly installed with a movable rod 86. The top of the movable rod 86 extends through the mounting sleeve 81 to the outside, and a friction block 82 is rotatably installed at the extended end of the movable rod 86. The friction block 82 is made of rubber and has a slightly curved surface to better fit the surface of the blade. A telescopic spring 83 is installed between the bottom of the slider 85 and the inner side of the mounting sleeve 81.

[0045] The slider 85, through the force of the telescopic spring 83, pushes the friction block 82 outward via the movable rod 86, causing the friction block 82 to protrude from the surface of the clamping block 71. When clamping the blade, the friction block 82 is pressed back into the inner side of the convex surface 73 by squeezing, so that the friction block 82 can be closely attached to the surface of the blade. At the same time, the friction block 82 and the movable rod 86 are rotatably connected, so the friction block 82 can rotate and adaptively rotate to a suitable angle to be closely attached to the surface of the blade, thereby increasing the friction.

[0046] By increasing friction, the blade can be kept in a stable clamping state even when the pressure applied to the blade by the clamping end 7 and the clamping end 6 is reduced. Reducing the pressure can prevent the blade from deforming due to excessive pressure.

[0047] Working principle: When using this device to clamp the blade, mounting base 1 4 and mounting base 2 5 are fixed on two movable blocks 34 respectively. Driven by the double-headed cylinder 35, mounting base 1 4 and mounting base 2 5 can move in opposite directions to clamp the blade. The convex surface 73 and concave surface 9 can correspond to the two sides of the blade and fit against the surface. By the convex and concave surfaces on the clamping end 2 7 and clamping end 1 6 fitting against the curved surface of the blade, the surface of the blade is subjected to uniform force, preventing deformation. At the same time, the squeezing will cause the friction block 82 to be pressed back to the inside of the convex surface 73, adaptively rotating to a suitable angle to fit tightly against the surface of the blade, thereby increasing the friction.

Claims

1. An end effector for a large-blade automated forging robot, characterized in that, include: Connecting plate (2), connecting the moving device; Clamping end two (7) and clamping end one (6), the clamping end two (7) includes a clamping block (71), the outer end of the clamping block (71) is provided with a convex surface (73) adapted to the blade surface, the outer end of the clamping end one (6) is provided with a concave surface (9) adapted to the blade surface, the outer end of the clamping block (71) is provided with equally spaced mounting grooves (74), and the mounting grooves (74) are provided with a limiting component (8) for increasing the friction with the blade surface; Drive assembly (3), which is used to simultaneously drive the clamping block (71) and the clamping end (6) to move the clamping blade; The clamping block (71) and the clamping end (6) are driven to approach each other by the driving component (3), and the clamping block (71) and the clamping end (6) are clamped by the convex surface (73) and the concave surface (9) respectively.

2. The end effector for a large-blade automated forging robot according to claim 1, characterized in that, It also includes: a mounting bracket (1), the connecting plate (2) being fixedly mounted on the top of the mounting bracket (1), and the drive assembly (3) also includes a fixing plate (32), the fixing plate (32) being fixedly mounted on the outer end of the mounting bracket (1).

3. The end effector for a large-scale automated forging robot of blades according to claim 2, characterized in that: The fixed plate (32) has clamps (31) fixedly installed at both ends. The fixed plate (32) has a fixed seat (33) fixedly installed at the outer end. The fixed seat (33) and the two clamps (31) are fixedly installed with slide rods (37). The fixed seat (33) has a double-headed cylinder (35) installed on the top. The double-headed cylinder (35) has a drive seat (36) installed on both sides of the output end.

4. The end effector for a large-blade automated forging robot according to claim 3, characterized in that: The drive assembly (3) also includes two movable blocks (34), which are slidably connected to the slide rod (37). The outer ends of the two movable blocks (34) are respectively fixedly installed with mounting base two (5) and mounting base one (4). The clamping end one (6) is fixedly installed on the outer end of mounting base two (5), and the clamping block (71) is fixedly installed on the outer end of mounting base one (4). The two drive seats (36) are respectively fixed on the top of the two movable blocks (34).

5. The end effector for a large-blade automated forging robot according to claim 1, characterized in that: The clamping block (71) is hollow inside, and a support plate (72) is fixedly installed inside the clamping block (71).

6. The end effector for a large-blade automated forging robot according to claim 1, characterized in that: The limiting component (8) includes a mounting sleeve (81), and a retaining ring (84) is installed at the outer end of the mounting sleeve (81). The mounting sleeve (81) is installed inside the mounting groove (74) through the retaining ring (84).

7. The end effector for a large-blade automated forging robot according to claim 6, characterized in that: The limiting component (8) also includes a slider (85), which is slidably connected to the inner wall of the mounting sleeve (81). A movable rod (86) is fixedly installed on the top of the slider (85), and a friction block (82) is rotatably installed on the top of the movable rod (86). A telescopic spring (83) is provided inside the mounting sleeve (81), and the two ends of the telescopic spring (83) abut against the inner side of the slider (85) and the mounting sleeve (81) respectively.

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