A clamping and turning robot for steel forging

Abstract

The utility model relates to a kind of clamping and overturning manipulator for steel forging, including base, base is driven by first power mechanism and is equipped with pedestal by up-down direction movement, rotation seat driven by second power mechanism is rotationally arranged on pedestal, second power mechanism drives rotation seat to overturn and position, two claw bases are set up on the side of rotation seat away from pedestal, two claw bases are left-right direction slidingly arranged on rotation seat and are driven by third power mechanism to be mutually close or far away, clamping arm driven by fourth power mechanism is rotationally arranged on two claw bases, the side of clamping arm is straight arm, the other side opposite is V-shaped arm with V-shaped lug, first clamping station and second clamping station are set during the rotation of two clamping arms, fourth power mechanism drives two clamping arms to switch and position between first clamping station and second clamping station.The utility model's clamping and overturning manipulator for steel forging can clamp round steel and square steel, and has strong adaptability.

Description

Technical Field

[0001] This utility model relates to a clamping and flipping robot for steel forging, and belongs to the field of forging technology. Background Technology

[0002] Forging is a process in which external force is applied to a metal billet forging using hammering or forging machinery, causing it to undergo plastic deformation in a solid state. Through this process, the internal grain structure of the metal is refined, casting defects such as porosity are eliminated, and continuous metal flow lines are formed, significantly improving the mechanical properties of the material, such as strength and toughness.

[0003] To reduce labor intensity, robotic arms are typically used to hold forgings instead of manual labor during the forging process. Common metal billet forgings are mostly cylindrical round steel or square prism-shaped steel. For square steel, parallel robotic arms are usually used for gripping; for round steel, parallel robotic arms with curved or V-shaped fingers are typically used. Existing parallel robotic arms usually consist of two gripping arms, left and right. When the two gripping arms are close together, they can press down on the forging from both sides to hold it; when the two gripping arms are far apart, they can release the forging.

[0004] However, existing parallel robotic arms can typically only clamp one type of metal billet forging, either square or round steel. When it is necessary to clamp another type of metal billet forging, a parallel robotic arm with a different clamping arm needs to be used. In other words, existing parallel robotic arms do not have the ability to clamp both square and round steel, resulting in poor adaptability. Utility Model Content

[0005] The purpose of this invention is to provide a clamping and flipping robot for steel forging, so as to solve the problem of poor adaptability of parallel robots for clamping metal billet forgings in the prior art.

[0006] To solve the above problems, the steel forging clamping and flipping robot involved in this utility model adopts the following technical solution: A clamping and flipping robot for steel forging includes a base. A pedestal is mounted on the base and guided up and down by a first power mechanism. A rotating seat driven by a second power mechanism is rotatably mounted on the base. The second power mechanism drives the rotating seat to flip up and down and position itself. Two claw seats are arranged on the rotating seat on the side away from the base. The two claw seats are guided and slidably mounted on the rotating seat and driven by a third power mechanism to move closer or further apart. A clamping arm driven by a fourth power mechanism is rotatably mounted on each of the two claw seats. One side of the clamping arm is a straight arm, and the opposite side is a V-shaped arm with a V-shaped protrusion. During the rotation of the two clamping arms, there are a first clamping position where the straight arm sides of the two clamping arms face each other, and a second clamping position where the V-shaped arm sides of the two clamping arms face each other. The fourth power mechanism drives the two clamping arms to switch and position themselves between the first clamping position and the second clamping position.

[0007] A square protrusion is provided at the end of the clamping arm on the straight arm side, and a movable block driven by a fifth power mechanism is provided on the clamping arm on the straight arm side for front and rear guidance and sliding.

[0008] The clamping arm has a guide groove on the straight arm side, and the movable block is slidably mounted in the guide groove, with the free end of the movable block extending out of the guide groove.

[0009] The claw seat has a first mounting hole, and the end of the clamping arm near the claw seat has a first rotating shaft that cooperates with the first mounting hole. The clamping arm is rotatably mounted on the claw seat through the cooperation of the first rotating shaft and the first mounting hole.

[0010] A telescopic seat is provided between the base and the rotating seat. The telescopic seat is driven by a sixth power mechanism and is guided to slide on the base. The rotating seat is rotatably mounted on the telescopic seat.

[0011] The base is provided with a guide groove, and the telescopic seat is provided with a slider that cooperates with the guide groove. The telescopic seat is guided and slidably disposed on the base by the cooperation of the slider and the guide groove.

[0012] The telescopic seat has a second mounting hole, and the rotating seat has a second rotating shaft that mates with the second mounting hole. The rotating seat is rotatably assembled on the telescopic seat through the mating of the second rotating shaft and the second mounting hole.

[0013] The rotating seat has a sliding groove, and the claw seat is slidably disposed in the sliding groove for left and right guidance.

[0014] The base has a dovetail groove, and the base has a dovetail tenon that mates with the dovetail groove. The base is guided up and down and moved on the base by the dovetail tenon and the dovetail groove.

[0015] The second and fourth power mechanisms are both servo motors; the first, third, fifth, and sixth power mechanisms are all cylinders.

[0016] The present invention features a rotary base with two claw seats on the side furthest from the base. Both claw seats are slidably mounted on the rotary base and are driven by a third power mechanism to move closer or further apart. Each claw seat has a clamping arm rotatably mounted on it, driven by a fourth power mechanism. One side of the clamping arm is a straight arm, and the opposite side is a V-shaped arm with a V-shaped protrusion. During rotation, the clamping arms have a first clamping position where the straight arm sides face each other, and a second clamping position where the V-shaped arm sides face each other. The fourth power mechanism drives the clamping arms to switch and position between the first and second clamping positions. When the fourth power mechanism drives the clamping arms to the first clamping position and positions them, the straight arm sides of the two clamping arms face each other. Then, the third power mechanism drives the two claw seats to move closer together, allowing the straight arm sides of the two clamping arms to clamp the square steel. When the fourth power mechanism drives the two clamping arms to move to the second clamping position and position them, the V-shaped arm sides of the two clamping arms face each other. Then, the third power mechanism drives the two claw seats to move closer together, so that the V-shaped arm sides of the two clamping arms can move closer together to clamp the round steel. Therefore, the steel forging clamping and flipping robot of this utility model can clamp both round steel and square steel, and has strong adaptability. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a three-dimensional structural diagram of the clamping arm in the first clamping position according to an embodiment of the present utility model; Figure 2 for Figure 1 Top view; Figure 3 for Figure 2 A schematic diagram of the AA cross-sectional structure in the diagram; Figure 4 for Figure 2 Schematic diagram of the BB cross-sectional structure in the middle; Figure 5 for Figure 1 A three-dimensional structural diagram of the rotating seat in the diagram; Figure 6 for Figure 1 A three-dimensional structural diagram of the clamping arm in the image; Figure 7 This is a three-dimensional structural diagram of the clamping arm in the second clamping position according to an embodiment of the present invention.

[0018] In the diagram: 1. Base; 2. Base plate; 3. Rotary seat; 4. Claw seat; 5. Clamping arm; 6. V-shaped protrusion; 7. Square protrusion; 8. Movable block; 9. Guide groove; 10. First mounting hole; 11. First rotating shaft; 12. Telescopic seat; 13. Guide groove; 14. Slider; 15. Second mounting hole; 16. Second rotating shaft; 17. Slide groove; 18. Dovetail groove; 19. Dovetail tenon; 20. First servo motor; 21. Second servo motor; 22. First cylinder; 23. Second cylinder; 24. Third cylinder; 25. Fourth cylinder. Detailed Implementation

[0019] To make the technical objectives, technical solutions, and beneficial effects of this utility model clearer, the technical solution of this utility model will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model; that is, the described embodiments are only a part of the embodiments of this utility model, and not all of them. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0020] In this utility model, unless otherwise stated, the orientations used, such as "up" and "down", usually refer to the direction shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" usually refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0021] Specific embodiments of the steel forging clamping and flipping robot involved in this utility model are described below. Figures 1-7The device comprises a base 1 serving as a foundation. A base 2 is mounted on the base 1, driven by a first power mechanism to move vertically. A rotating seat 3, driven by a second power mechanism, is rotatably mounted on the base 2. The second power mechanism drives the rotating seat 3 to rotate vertically and position itself. Two claw seats 4 are located on the side of the rotating seat 3 furthest from the base 2. Both claw seats 4 are slidably mounted on the rotating seat 3 and are driven by a third power mechanism to move closer or further apart. A clamping arm 5, driven by a fourth power mechanism, is rotatably mounted on each claw seat 4. The two clamping arms 5 cooperate with each other. Suitable for clamping forgings, the base 2 is used to adjust the height of the clamping arm 5, and the rotating seat 3 is used to flip the clamping arm 5 up and down to flip the forging; one side of the clamping arm 5 is a straight arm, and the opposite side is a V-shaped arm with a V-shaped protrusion 6. During the rotation of the two clamping arms 5, there is a first clamping station that makes the straight arm sides of the two clamping arms 5 face each other and a second clamping station that makes the V-shaped arm sides of the two clamping arms 5 face each other. The fourth power mechanism drives the two clamping arms 5 to switch between the first clamping station and the second clamping station and to position them when switching to the target station. When the two jaw seats 4 approach each other, the two clamping arms 5 will also approach each other to clamp the forging; when the two jaw seats 4 move away from each other, the two clamping arms 5 will move away from each other to release the forging; when the two clamping arms 5 are in the first clamping position, their straight arm sides face each other, and the straight arm sides of the two clamping arms 5 can press against the left and right sides of the square steel to clamp the square steel; when the two clamping arms 5 are in the second clamping position, their V-shaped arm sides face each other, and the V-shaped protrusions on the two clamping arms 5 can press against the round steel from the left and right sides to clamp the round steel. When clamping the round steel, the V-shaped protrusions can disperse the clamping force to reduce the contact stress, and prevent the round steel from slipping or rotating during the flipping process. At the same time, they can achieve automatic centering and effectively eliminate the initial position deviation of the round steel.

[0022] Before use, the base needs to be placed on the ground foundation near the forging machine or on a separately provided support, so that the two clamping arms 5 are positioned on both sides of the target forging to be clamped, and the center line between the two clamping arms 5 is collinear with the center line of the target forging. During use, first activate the first power mechanism to adjust the position of the base 2, thereby moving the clamping arms 5 to a height capable of clamping the target forging. If the target forging is square steel, activate the fourth power mechanism to drive the two clamping arms 5 to rotate to the first clamping position and position them; if the target forging is round steel, activate the fourth power mechanism to drive the two clamping arms 5 to rotate to the second clamping position and position them. Then, activate the third power mechanism to drive the two jaw seats 4 closer together, so that the two jaw seats 4, along with their clamping arms 5, move closer together, thereby pressing the two clamping arms 5 against the left and right sides of the target forging to clamp it. Next, the first power mechanism is activated again, causing the base 2 to move upward, thus providing sufficient space for the target forging to rotate. Then, the second power mechanism is activated, driving the rotating seat 3 to rotate downward by 180 degrees. This allows the rotating seat 3, along with the two claw seats 4, the two clamping arms 5, and the target forging, to rotate downward by 180 degrees around the rotation axis of the rotating seat 3. When it is necessary to lower the target forging, the third power mechanism is activated, driving the two claw seats 4 to move away from each other. This causes the two claw seats 4, along with their respective clamping arms 5, to move away from each other, thus releasing the target forging.

[0023] Specifically, a square protrusion 7 is provided at the end of the clamping arm 5 on the straight arm side, and a movable block 8 driven by a fifth power mechanism is slidably arranged on the clamping arm 5 on the straight arm side. When clamping the square steel, the fifth power mechanism is activated to drive the movable block 8 to slide towards the square steel, so that the movable block 8 presses the square steel against the square protrusion 7. In this way, the two clamping arms 5 press against the left and right sides of the square steel respectively, and the movable block 8 and the square protrusion 7 press against the front and rear sides of the square steel respectively, which can more stably clamp the square steel and prevent the square steel from slipping or rotating during the flipping process. The so-called front refers to the side where the base 2 is located, and the so-called rear refers to the side where the clamping arm 5 is located.

[0024] Specifically, a guide groove 9 is provided on the straight arm side of the clamping arm 5, and the movable block 8 is slidably installed in the guide groove 9 with the front and rear guides, and the free end of the movable block 8 extends out of the guide groove 9.

[0025] Specifically, the claw base 4 has a first mounting hole 10, and the end of the clamping arm 5 near the claw base 4 has a first rotating shaft 11 that cooperates with the first mounting hole 10. The clamping arm 5 is rotatably mounted on the claw base 4 through the cooperation of the first rotating shaft 11 and the first mounting hole 10.

[0026] Specifically, a telescopic seat 12 is provided between the base 2 and the rotating seat 3. The telescopic seat 12 is driven by a sixth power mechanism and is guided and slidably mounted on the base 2. The rotating seat 3 is rotatably mounted on the telescopic seat 12. The telescopic seat 12 can adjust the horizontal position of the two clamping arms 5, thereby adjusting the position of the clamped target forging, so as to place the target forging into the forging machine from the outside or remove the target forging from the forging machine. Neither the forging machine nor the target forging is part of the structure of this utility model.

[0027] Specifically, a guide groove 13 is provided on the base 2 on the side near the telescopic seat 12, and a slider 14 that cooperates with the guide groove 13 is provided on the telescopic seat 12. The telescopic seat 12 is guided and slidably disposed on the base 2 through the cooperation of the slider 14 and the guide groove 13.

[0028] Specifically, the telescopic seat 12 is provided with a second mounting hole 15, and the rotating seat 3 is provided with a second rotating shaft 16 that cooperates with the second mounting hole 15. The rotating seat 3 is rotatably assembled on the telescopic seat 12 through the cooperation of the second rotating shaft 16 and the second mounting hole 15.

[0029] Specifically, a groove 17 is provided on the rotating seat 3 at the end away from the telescopic seat 12, and the claw seat 4 is slidably positioned in the groove 17 for left and right guidance.

[0030] Specifically, the base 1 has a dovetail groove 18, and the base 2 has a dovetail tenon 19 that cooperates with the dovetail groove 18. The base 2 is guided up and down and assembled on the base 1 by the cooperation of the dovetail tenon 19 and the dovetail groove 18.

[0031] Specifically, both the second and fourth power mechanisms are servo motors. The second power mechanism is a first servo motor 20, and the fourth power mechanism is a second servo motor 21. The housing of the first servo motor 20 is fixed to the wall of the second mounting hole 15 of the telescopic seat 12, and the shaft of the first servo motor 20 is fixed to the second rotating shaft 16 of the rotating seat 3. The housing of the second servo motor 21 is fixed to the wall of the first mounting hole 10 of the claw seat 4, and the shaft of the second servo motor 21 is fixed to the first rotating shaft 11 of the clamping arm 5. The first, third, fifth, and sixth power mechanisms are all cylinders. The first power mechanism is a first cylinder 22, the third power mechanism is a second cylinder 23, the fifth power mechanism is a third cylinder 24, and the sixth power mechanism is a fourth cylinder 25. The cylinder body of the first cylinder 22 is fixed on the base 1, and the piston rod of the first cylinder 22 is fixed on the base 2. When the piston rod of the first cylinder 22 moves to its maximum stroke, the dovetail tenon 19 on the base 2 will not disengage from the dovetail groove 18 on the base 1. The rotating seat 3 has a through hole that passes through the rotating seat 3 and the slide groove 17. The cylinder body of the second cylinder 23 is fixed on the side wall of the rotating seat 3, and the piston rod of the second cylinder 23 extends into the slide groove 17 through the through hole and is fixed on the claw seat 4. The third cylinder The cylinder body of cylinder 24 is fixed on the clamping arm 5, and the piston rod of the third cylinder 24 is fixed on the movable block 8. A through hole communicating with the guide groove 13 is provided on the side wall of the base 2 away from the guide groove 13. The cylinder body of the fourth cylinder 25 is fixed on the outer wall of the base 2. The piston rod of the fourth cylinder 25 extends into the guide groove 13 through the through hole and is fixed on the slider 14 of the telescopic seat 12. When the piston rod of the fourth cylinder 25 moves to the maximum stroke, the slider 14 will not come out of the guide groove 13.

[0032] In the above embodiment, a square protrusion is provided at the end of the clamping arm on the straight arm side, and a movable block driven by the fifth power mechanism is provided on the clamping arm on the straight arm side for front and rear guidance and sliding. This is a preferred technical solution. In other embodiments, the square protrusion, movable block and fifth power mechanism may not be provided.

[0033] In the above embodiment, a first mounting hole is provided on the claw seat, and a first rotating shaft that cooperates with the first mounting hole is provided at one end of the clamping arm near the claw seat. The clamping arm is rotatably mounted on the claw seat through the cooperation of the first rotating shaft and the first mounting hole. In other embodiments, the first mounting hole can also be provided at the end of the clamping arm near the claw seat, and the first rotating shaft can be provided on the claw seat. The clamping arm is rotatably mounted on the claw seat through the cooperation of the first rotating shaft and the first mounting hole.

[0034] In the above embodiments, a telescopic seat is provided between the base and the rotating seat, which is a preferred technical solution. In other embodiments, the telescopic seat may not be provided.

[0035] In the above embodiment, the telescopic seat is provided with a second mounting hole, and the rotating seat is provided with a second rotating shaft that cooperates with the second mounting hole. The rotating seat is rotatably assembled on the telescopic seat through the cooperation of the second rotating shaft and the second mounting hole. In other embodiments, the second mounting hole can also be provided on the rotating seat, and the second rotating shaft can be provided on the telescopic seat. The rotating seat is rotatably assembled on the telescopic seat through the cooperation of the second rotating shaft and the second mounting hole.

[0036] In the above embodiment, a groove is provided on the rotating seat at the end away from the telescopic seat, and the claw seat is guided and slidably disposed in the groove. In other embodiments, the rotating seat may not have a groove, but a T-shaped slide rail is protruded on the rotating seat at the end away from the telescopic seat, and a T-shaped groove is provided on the claw seat at the end near the rotating seat. The claw seat is guided and slidably disposed in the groove by the cooperation of the T-shaped groove and the T-shaped slide rail.

[0037] In the above embodiments, a dovetail groove is provided on the base, and a dovetail tenon is provided on the base to cooperate with the dovetail groove. The base is guided and moved up and down on the base by the cooperation of the dovetail tenon and the dovetail groove. In other embodiments, a sliding groove can also be provided on the base to guide the base up and down and assemble it in the sliding groove.

Claims

1. A clamping and flipping robot for steel forging, comprising a base, wherein a pedestal is mounted on the base and guided vertically by a first power mechanism, and a rotating seat driven by a second power mechanism is rotatably mounted on the pedestal, characterized in that, The second power mechanism drives the rotary seat to flip up and down and position itself. Two claw seats are provided on the side of the rotary seat away from the base. The two claw seats are guided and slidably disposed on the rotary seat and driven by the third power mechanism to move closer or further away from each other. A clamping arm driven by the fourth power mechanism is rotatably disposed on each of the two claw seats. One side of the clamping arm is a straight arm, and the opposite side is a V-shaped arm with a V-shaped protrusion. During the rotation of the two clamping arms, there are a first clamping position where the straight arm sides of the two clamping arms are opposite each other and a second clamping position where the V-shaped arm sides of the two clamping arms are opposite each other. The fourth power mechanism drives the two clamping arms to switch and position themselves between the first clamping position and the second clamping position.

2. The steel forging clamping and flipping robot according to claim 1, characterized in that, A square protrusion is provided at the end of the clamping arm on the straight arm side, and a movable block driven by a fifth power mechanism is provided on the clamping arm on the straight arm side for front and rear guidance and sliding.

3. The steel forging clamping and flipping robot according to claim 2, characterized in that, The clamping arm has a guide groove on the straight arm side, and the movable block is slidably mounted in the guide groove, with the free end of the movable block extending out of the guide groove.

4. The steel forging clamping and flipping robot according to claim 3, characterized in that, The claw seat has a first mounting hole, and the end of the clamping arm near the claw seat has a first rotating shaft that cooperates with the first mounting hole. The clamping arm is rotatably mounted on the claw seat through the cooperation of the first rotating shaft and the first mounting hole.

5. The steel forging clamping and flipping robot according to any one of claims 1-4, characterized in that, A telescopic seat is provided between the base and the rotating seat. The telescopic seat is driven by a sixth power mechanism and is guided to slide on the base. The rotating seat is rotatably mounted on the telescopic seat.

6. The steel forging clamping and flipping robot according to claim 5, characterized in that, The base is provided with a guide groove, and the telescopic seat is provided with a slider that cooperates with the guide groove. The telescopic seat is guided and slidably disposed on the base by the cooperation of the slider and the guide groove.

7. The steel forging clamping and flipping robot according to claim 6, characterized in that, The telescopic seat has a second mounting hole, and the rotating seat has a second rotating shaft that mates with the second mounting hole. The rotating seat is rotatably assembled on the telescopic seat through the mating of the second rotating shaft and the second mounting hole.

8. The steel forging clamping and flipping robot according to claim 7, characterized in that, The rotating seat has a sliding groove, and the claw seat is slidably disposed in the sliding groove for left and right guidance.

9. The steel forging clamping and flipping robot according to claim 8, characterized in that, The base has a dovetail groove, and the base has a dovetail tenon that mates with the dovetail groove. The base is guided up and down and moved on the base by the dovetail tenon and the dovetail groove.

10. The steel forging clamping and flipping robot according to claim 9, characterized in that, The second and fourth power mechanisms are both servo motors; the first, third, fifth, and sixth power mechanisms are all cylinders.

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