Replaceable robot structure for metal forging

Abstract

The utility model belongs to metal forging technical field, specifically speaking is a kind of replaceable mechanical hand structure for metal forging, including bottom plate, the top fixed mounting of bottom plate has connecting shaft, the top rotation of connecting shaft is installed with big arm, the top rotation of big arm is installed with small arm, the side of small arm away from big arm is provided with power mechanism, the side of small arm away from big arm is provided with transmission mechanism, the both sides of first axle support away from worm wheel are provided with clamping mechanism, the side of small arm away from big arm is provided with clamping mechanism, through the setting of hydraulic cylinder, protective housing, servo motor, worm, first axle support and worm wheel, the powerful thrust of hydraulic cylinder can be used to push protective housing to move to one side, to be able to drive rectangular clamping shell to move and make clamping rod can be automatically unfolded, and the cooperation of protective housing and servo motor can provide sufficient power for transmission mechanism and clamping mechanism.

Description

Technical Field

[0001] This utility model belongs to the field of metal forging technology, specifically a replaceable robotic arm structure for metal forging. Background Technology

[0002] In the field of metal forging, as the manufacturing industry transforms towards automation and intelligence, the demand for efficient and flexible material handling and processing auxiliary equipment in forging production is becoming increasingly urgent. The metal forging process is characterized by harsh environments such as high temperature (workpiece temperature typically reaches 800-1200℃), high pressure (forging pressure can reach thousands of tons), strong impact vibration, and metal splashing. Traditional manual operation is not only labor-intensive and has high safety risks, but also cannot meet the production requirements of high precision and high consistency. Therefore, robotic arms have gradually become one of the core equipment in forging production lines.

[0003] Replacing traditional end effectors requires manual removal of bolts and calibration of positioning, a process that typically takes more than 30 minutes. Frequent replacements can lead to production line downtime exceeding 15%, severely restricting production efficiency. At the same time, the replacement time also increases dramatically, impacting production efficiency.

[0004] Therefore, this utility model provides a replaceable robotic arm structure for metal forging. Utility Model Content

[0005] To overcome the shortcomings of the prior art and solve at least one of the problems mentioned in the background art, a replaceable manipulator structure for metal forging is proposed.

[0006] The technical solution adopted by this utility model to solve its technical problem is as follows: A replaceable robotic arm structure for metal forging, comprising a base plate; a connecting shaft is fixedly installed on the top of the base plate, a large arm is rotatably installed on the top of the connecting shaft, a small arm is rotatably installed on the top of the large arm, a power mechanism is provided on the side of the small arm away from the large arm, and a transmission mechanism is provided on the side of the small arm away from the large arm; a clamping mechanism is provided on both sides of the first shaft frame away from the worm gear, and a gripping mechanism is provided on the side of the small arm away from the large arm; a linkage mechanism is provided on both sides of the gripping mechanism; the power mechanism includes a hydraulic cylinder, a protective shell, and a servo motor; the hydraulic cylinder is fixedly installed on the inner wall of the small arm away from the large arm, the output end of the hydraulic cylinder is fixedly installed with the protective shell, and the inner wall of the protective shell is fixedly installed with the servo motor; the hydraulic cylinder can push the protective shell to one side with its powerful thrust, thereby driving the rectangular chuck to move so that the gripping rod can automatically unfold; the cooperation between the protective shell and the servo motor can provide sufficient power for the transmission mechanism and the clamping mechanism.

[0007] Preferably, the transmission mechanism includes a worm, a first shaft bracket, and a worm wheel. The worm is fixedly installed at the output end of the servo motor. Two sets of the first shaft bracket are provided, and the two sets of the first shaft bracket are fixedly installed on both sides of the protective shell away from the forearm. The inner wall of the first shaft bracket away from the protective shell is rotatably installed with the worm wheel. The worm meshes with the two sets of worm wheels respectively. In this scheme, the worm can drive the two sets of worm wheels to rotate through the drive of the servo motor, thereby driving the screw to rotate.

[0008] Preferably, the clamping mechanism includes a screw, a guide block, a retaining ring, and a groove. The screw is rotatably mounted on the inner wall of the first shaft frame and fixedly mounted to the worm gear. The guide block is fixedly mounted on both sides of the first shaft frame away from the worm gear. The retaining ring is threaded onto the surface of the screw, and a groove is formed on the side of the retaining ring near the guide block. The guide block is slidably connected to the retaining ring through the groove. In this design, the screw can drive the retaining ring to move through the rotation of the worm gear, thereby allowing the retaining ring to expand outward to clamp the rectangular retaining shell. The cooperation between the guide block and the groove can provide guidance for the retaining ring and prevent it from shifting.

[0009] Preferably, the clamping mechanism includes a mounting plate, a second shaft frame, a clamping rod, and a clamping block. The mounting plate is threaded onto the side of the forearm away from the upper arm. The two sides of the mounting plate away from the forearm are fixedly mounted to the second shaft frame. The inner wall of the second shaft frame is rotatably mounted to the clamping rod. The side of the clamping rod away from the second shaft frame is fixedly mounted to the clamping block. In this design, the combined use of the mounting plate, the second shaft frame, the clamping rod, and the clamping block can achieve clamping and releasing functions through cooperation with the linkage mechanism, thereby enabling the machine to operate normally.

[0010] Preferably, the linkage mechanism includes a sloping groove, a sloping plate, a limiting plate, and a rectangular retaining shell. The sloping groove is formed on both sides of the clamping rod. The sloping plate is slidably installed in the sloping groove on both sides of the clamping rod. The side of the sloping plate away from the clamping rod is fixedly installed with the limiting plate, and the side of the sloping plate away from the limiting plate is fixedly installed with the rectangular retaining shell. The rectangular retaining shell is located on the inner wall of the clamping rod, and the retaining ring is located on the inner wall of the rectangular retaining shell. In this design, the sloping groove allows the sloping plate to slide freely on the inner wall of the clamping rod. The sloping plate can drive the clamping rod to unfold and close by moving laterally. The limiting plate can limit the clamping rod to prevent it from opening too wide. The rectangular retaining shell can be easily connected to the retaining ring, thereby enabling the opening and closing of the clamping rod to be controlled by the push of the hydraulic cylinder.

[0011] Preferably, the side of the retaining ring away from the first shaft frame is coated with an anti-slip coating. In this design, the application of the anti-slip coating enables the retaining ring to have a strong grip when it is opened, thereby preventing the rectangular retaining ring from slipping when it extends and retracts.

[0012] The beneficial effects of this utility model are as follows:

[0013] 1. The replaceable manipulator structure for metal forging described in this utility model, through the arrangement of a hydraulic cylinder, a protective shell, a servo motor, a worm gear, a first shaft frame, and worm wheels, enables the hydraulic cylinder to push the protective shell to one side through its powerful thrust, thereby driving the rectangular chuck to move and allowing the clamping rod to automatically unfold. The cooperation between the protective shell and the servo motor provides sufficient power for the transmission mechanism and the clamping mechanism. The worm gear, driven by the servo motor, drives the two sets of worm wheels to rotate, thereby driving the screw to rotate.

[0014] 2. The replaceable manipulator structure for metal forging described in this utility model, through the arrangement of a screw, guide block, retaining ring, groove, mounting plate, second shaft frame, clamping rod, and clamping block, enables the screw to drive the retaining ring to move through the rotation of the worm gear, thereby allowing the retaining ring to expand outward and clamp the rectangular retaining shell. The cooperation between the guide block and the groove provides guidance for the retaining ring and prevents it from shifting. The cooperation between the mounting plate, second shaft frame, clamping rod, and clamping block, in conjunction with the linkage mechanism, enables clamping and releasing, thereby allowing the machine to operate normally. Attached Figure Description

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a front perspective view of the present invention;

[0017] Figure 2 This is a partial structural diagram of the present invention;

[0018] Figure 3 This is a partial exploded view of this utility model;

[0019] Figure 4 yes Figure 3 Enlarged view of a portion of point A in the middle.

[0020] Legend:

[0021] 1. Base plate; 2. Connecting shaft; 3. Boom; 4. Arm; 5. Power mechanism; 51. Hydraulic cylinder; 52. Protective shell; 53. Servo motor; 6. Transmission mechanism; 61. Worm gear; 62. First shaft frame; 63. Worm wheel; 7. Clamping mechanism; 71. Screw; 72. Guide block; 73. Snap ring; 74. Groove; 8. Clamping mechanism; 81. Mounting plate; 82. Second shaft frame; 83. Clamping rod; 84. Clamping block; 9. Linkage mechanism; 91. Inclined groove; 92. Inclined plate; 93. Limiting plate; 94. Rectangular retainer. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0023] Specific implementation examples are given below.

[0024] like Figures 1 to 4As shown in the embodiment of this utility model, a replaceable manipulator structure for metal forging includes a base plate 1; a connecting shaft 2 is fixedly mounted on the top of the base plate 1, a large arm 3 is rotatably mounted on the top of the connecting shaft 2, a small arm 4 is rotatably mounted on the top of the large arm 3, a power mechanism 5 is provided on the side of the small arm 4 away from the large arm 3, and a transmission mechanism 6 is provided on the side of the small arm 4 away from the large arm 3; clamping mechanisms 7 are provided on both sides of the first shaft frame 62 away from the worm gear 63, and a clamping mechanism 8 is provided on the side of the small arm 4 away from the large arm 3; linkage mechanisms 9 are provided on both sides of the clamping mechanism 8; the power mechanism 5 includes a hydraulic cylinder 51, a protective shell 52, and a servo motor 53, the hydraulic cylinder 51... 1. A hydraulic cylinder 51 is fixedly installed on the inner wall of the forearm 4 away from the upper arm 3. The output end of the hydraulic cylinder 51 is fixedly installed with the protective shell 52, and the inner wall of the protective shell 52 is fixedly installed with the servo motor 53. The transmission mechanism 6 includes a worm 61, a first shaft bracket 62, and a worm wheel 63. The worm 61 is fixedly installed on the output end of the servo motor 53. Two sets of first shaft brackets 62 are provided. The two sets of first shaft brackets 62 are fixedly installed on both sides of the protective shell 52 away from the forearm 4. The inner wall of the first shaft bracket 62 away from the protective shell 52 is rotatably installed with the worm wheel 63. The worm 61 meshes with the two sets of worm wheels 63 respectively. The clamping mechanism 7 includes a screw 71, a guide block 72, a retaining ring 73, and a groove 74. The screw 71 is rotatably mounted on the inner wall of the first shaft bracket 62. The screw 71 is fixedly mounted to the worm gear 63. The guide block 72 is fixedly mounted on both sides of the first shaft bracket 62 away from the worm gear 63. The retaining ring 73 is threadedly mounted on the surface of the screw 71. A groove 74 is provided on the side of the retaining ring 73 near the guide block 72. The guide block 72 is slidably connected to the retaining ring 73 through the groove 74. The clamping mechanism 8 includes a mounting plate 81, a second shaft bracket 82, a clamping rod 83, and a clamping block 84. The mounting plate 81 is threadedly mounted on the side of the forearm 4 away from the upper arm 3. The two sides of the mounting plate 81 away from the forearm 4 are fixedly mounted to the second shaft bracket 82. The inner wall of the second shaft bracket 82 is fixedly mounted to the forearm 4. The clamping rod 83 is rotatably installed, and the side of the clamping rod 83 away from the second shaft frame 82 is fixedly installed with the clamping block 84. The linkage mechanism 9 includes a slant groove 91, a slant plate 92, a limiting plate 93, and a rectangular retainer 94. The slant groove 91 is opened on both sides of the clamping rod 83. The slant plate 92 is slidably installed in the slant groove 91 opened on both sides of the clamping rod 83. The side of the slant plate 92 away from the clamping rod 83 is fixedly installed with the limiting plate 93. The side of the slant plate 92 away from the limiting plate 93 is fixedly installed with the rectangular retainer 94. The rectangular retainer 94 is located on the inner wall of the clamping rod 83. The retaining ring 73 is located on the inner wall of the rectangular retainer 94. The side of the retaining ring 73 away from the first shaft frame 62 is coated with anti-slip paint.

[0025] like Figures 1 to 4As shown, the hydraulic cylinder 51 can push the protective shell 52 to one side with its powerful thrust, thereby moving the rectangular clasp 94 so that the clamping rod 83 can automatically unfold. The protective shell 52 and the servo motor 53 work together to provide sufficient power for the transmission mechanism 6 and the clamping mechanism 7. The worm gear 61 can drive the two sets of worm wheels 63 to rotate through the servo motor 53, thereby driving the screw 71 to rotate. The screw 71 drives the retaining ring 73 to move through the rotation of the worm wheels 63, thereby allowing the retaining ring 73 to expand outward to clamp the rectangular clasp 94. The guide block 72 and the groove 74 work together to guide the retaining ring 73 and prevent it from shifting. Mounting plate 8 1. The combined use of the second shaft frame 82, clamping rod 83, and clamping block 84, in conjunction with the linkage mechanism 9, enables clamping and releasing, thus allowing the machine to operate normally. The opening of the inclined groove 91 allows the inclined plate 92 to slide freely on the inner wall of the clamping rod 83. The inclined plate 92 can drive the clamping rod 83 to unfold and close by moving laterally. The limiting plate 93 can limit the clamping rod 83 to prevent it from opening too much. The rectangular clasp 94 can be easily connected to the retaining ring 73, thereby controlling the opening and closing of the clamping rod 83 by pushing with the hydraulic cylinder 51. The application of anti-slip coating enables the retaining ring 73 to have strong gripping force when it is opened, thereby preventing the rectangular clasp 94 from slipping when it extends and retracts.

[0026] Working Principle: During operation, first install the base plate 1 in a flat position, then it can be used. In use, the user first activates the hydraulic cylinder 51 to push the protective shell 52 to one side. As the protective shell 52 moves, it drives the servo motor 53 and the first shaft bracket 62 to move. When the first shaft bracket 62 moves, the retaining ring 73 drives the rectangular retaining shell 94 to move synchronously. As the rectangular retaining shell 94 moves continuously, the inclined plate 92 slides within the inclined groove 91, and its own inclination drives the clamping rod 83 to rotate, thus allowing it to unfold. The user then operates the device to align the clamping block 84 with the metal, and then activates the hydraulic cylinder 51 to retract it, causing the rectangular retaining shell 94 to reset. When the rectangular retaining shell 94 resets, it drives the inclined plate 92 to move. The movement of the inclined plate 92 pulls the clamping rod 83 back, allowing the clamping rod 83 to drive the clamping block 84 to clamp the metal. When clamping, if the clamping block 84 needs to be replaced during use, the user first starts the servo motor 53 to drive the worm gear 61 to rotate. The rotation of the worm gear 61 will drive the two sets of worm wheels 63 to rotate, and the rotation of the worm wheels 63 will drive the screw 71 to rotate. When the screw 71 rotates, it will cause the guide block 72 to slowly descend until it disengages from the rectangular retaining shell 94. At this time, the user only needs to remove the mounting plate 81 to directly pull out the clamping rod 83. Then, it can be reinstalled. During installation, the rectangular retaining shell 94 should be aligned with the worm gear 61, and then the servo motor 53 should be started to drive the screw 71 to reverse. When the screw 71 rotates, it will cause the retaining ring 73 to move in the opposite direction. When the retaining ring 73 moves to a certain extent, it will press against the rectangular retaining shell 94, so that the rectangular retaining shell 94 can move with the extension and retraction of the protective shell 52. The installation is then completed.

[0027] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A replaceable robotic arm structure for metal forging, comprising a base plate (1); characterized in that: A connecting shaft (2) is fixedly installed on the top of the base plate (1), a large arm (3) is rotatably installed on the top of the connecting shaft (2), a small arm (4) is rotatably installed on the top of the large arm (3), a power mechanism (5) is provided on the side of the small arm (4) away from the large arm (3), and a transmission mechanism (6) is provided on the side of the small arm (4) away from the large arm (3). The power mechanism (5) includes a hydraulic cylinder (51), a protective shell (52) and a servo motor (53). The hydraulic cylinder (51) is fixedly installed on the inner wall of the forearm (4) away from the upper arm (3). The output end of the hydraulic cylinder (51) is fixedly installed with the protective shell (52). The inner wall of the protective shell (52) is fixedly installed with the servo motor (53). The transmission mechanism (6) includes a worm (61), a first shaft bracket (62), and a worm wheel (63). The worm (61) is fixedly installed at the output end of the servo motor (53). There are two sets of the first shaft bracket (62). The two sets of the first shaft bracket (62) are fixedly installed on both sides of the protective shell (52) away from the forearm (4). The inner wall of the first shaft bracket (62) away from the protective shell (52) is rotatably installed with the worm wheel (63). The worm (61) meshes with the two sets of worm wheels (63) respectively.

2. The replaceable robotic arm structure for metal forging according to claim 1, characterized in that: The first shaft bracket (62) is provided with clamping mechanisms (7) on both sides away from the worm gear (63), and the small arm (4) is provided with a clamping mechanism (8) on the side away from the large arm (3).

3. The replaceable robotic arm structure for metal forging according to claim 2, characterized in that: The clamping mechanism (8) is provided with linkage mechanisms (9) on both sides.

4. The replaceable robotic arm structure for metal forging according to claim 3, characterized in that: The clamping mechanism (7) includes a screw (71), a guide block (72), a retaining ring (73), and a groove (74). The screw (71) is rotatably mounted on the inner wall of the first shaft frame (62). The screw (71) is fixedly mounted to the worm gear (63). The guide block (72) is fixedly mounted on both sides of the first shaft frame (62) away from the worm gear (63). The retaining ring (73) is threaded onto the surface of the screw (71). A groove (74) is provided on the side of the retaining ring (73) near the guide block (72). The guide block (72) is slidably connected to the retaining ring (73) through the groove (74).

5. The replaceable robotic arm structure for metal forging according to claim 4, characterized in that: The clamping mechanism (8) includes a mounting plate (81), a second shaft frame (82), a clamping rod (83), and a clamping block (84). The mounting plate (81) is threaded onto the side of the forearm (4) away from the upper arm (3). The two sides of the mounting plate (81) away from the forearm (4) are fixedly mounted to the second shaft frame (82). The inner wall of the second shaft frame (82) is rotatably mounted to the clamping rod (83). The side of the clamping rod (83) away from the second shaft frame (82) is fixedly mounted to the clamping block (84).

6. The replaceable robotic arm structure for metal forging according to claim 5, characterized in that: The linkage mechanism (9) includes a sloping groove (91), a sloping plate (92), a limiting plate (93), and a rectangular retaining shell (94). The sloping groove (91) is opened on both sides of the clamping rod (83). The sloping plate (92) is slidably installed in the sloping groove (91) opened on both sides of the clamping rod (83). The side of the sloping plate (92) away from the clamping rod (83) is fixedly installed with the limiting plate (93). The side of the sloping plate (92) away from the limiting plate (93) is fixedly installed with the rectangular retaining shell (94). The rectangular retaining shell (94) is located on the inner wall of the clamping rod (83). The retaining ring (73) is located on the inner wall of the rectangular retaining shell (94).

7. The replaceable robotic arm structure for metal forging according to claim 6, characterized in that: The side of the retaining ring (73) away from the first shaft frame (62) is coated with an anti-slip coating.

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