Forging device with integrated material clamping and discharge

Abstract

The utility model discloses a device of forging clamping and discharging integration belongs to the technical field of forging equipment, solves the problem of low production efficiency, long tact time, high cost caused by the separation of clamping and discharging operation in the existing forging equipment. The device includes the support frame, the clamping mechanism is installed at the front end of the transverse part of support frame, including the fixed jaw of installation in the front end of support frame, the movable jaw and the drive link set, the one end of drive link set is hinged with movable jaw, and the other end is connected with external drive source, the ejection discharging mechanism is installed on the transverse part of support frame and is located behind the clamping mechanism, the clamping mechanism and the ejection discharging mechanism are cooperatively arranged, and the operation of placing workpiece to the mould and ejecting and exporting the formed roughcast from the mould is completed in turn or synchronously. The device is mainly used in the forging production line, realizes the integrated automation operation of clamping and discharging, improves production efficiency, reduces tact time and reduces manufacturing cost.

Description

Technical Field

[0001] This utility model belongs to the field of forging equipment technology, and in particular relates to a device that integrates forging clamping and unloading. Background Technology

[0002] In automated forging production, clamping the billet and placing it into the die, and removing the forged blank from the die are two key and usually separate operations. Traditionally, separate clamping and unloading devices are used to perform these functions. The clamping device is typically mounted on a robotic arm and is responsible for handling the billet; while the unloading device is separately located on the press table or near the die and is responsible for ejecting and removing the blank after forging.

[0003] This model, which separates clamping and unloading functions into different devices, has gradually revealed some problems in practical applications. First, it complicates the overall structure of the automated system. The need to design and install two independent mechanisms not only occupies more space on the production line but also increases the complexity of the mechanical structure and control system. Second, regarding production cycle time, since clamping and unloading are two independent actions performed sequentially, after the robot completes unloading, it needs to wait or move away so that the unloading device can perform its ejection action, or it needs to reserve separate time for the unloading device. This inherently prolongs the total processing cycle time for a single workpiece, limiting further improvements in production pace.

[0004] Optimizing this process presents several challenges. Simply combining the two functions mechanically can lead to spatial conflicts. The clamping mechanism needs to be located at the front for easy material handling, while the ejection mechanism needs to be close to the mold cavity. Coordinating their positions and avoiding motion interference within a limited installation space is quite challenging. Furthermore, efficiently and reliably triggering and sequentially completing or synchronously coordinating the clamping and ejection actions within a single work cycle without significantly increasing the robot's load or control complexity is also a problem that needs to be solved. Therefore, in the pursuit of improving the efficiency of automated forging lines and simplifying equipment structure, effectively integrating clamping and unloading functions so that they can be completed collaboratively within a compact unit and a single reciprocating cycle of the robot has become a worthy research topic. Summary of the Invention

[0005] One object of the present invention is to solve at least the above-mentioned problems and / or defects, and to provide at least the advantages described below.

[0006] Another objective of this invention is to provide a device that integrates forging clamping and unloading.

[0007] This addresses the problems in automated forging production, such as complex equipment structure, large space occupation, long production cycle time, and low efficiency caused by the need to sequentially execute two independent actions, which result in complex equipment structure and low efficiency due to the independent clamping and unloading functions being performed by separate devices.

[0008] This addresses the problems of inconvenient installation of the power source for the ejection and unloading mechanism, difficulties in automating and controlling the ejection action, and reliance on complex external control systems.

[0009] Therefore, the technical solution provided by this utility model is as follows: A forging clamping and unloading integrated device includes: a support frame, the vertical part of which is connected to an external robot arm, and the horizontal part of which serves as an installation platform; preferably, the support frame is a T-shaped support frame; a clamping mechanism installed at the front end of the horizontal part of the support frame for clamping and releasing workpieces; and an ejection unloading mechanism installed on the horizontal part of the support frame and located behind the clamping mechanism; wherein the ejection unloading mechanism includes: a cylinder serving as a power source, the cylinder body of which is fixedly installed on the support frame; a push rod, one end of which is coaxially connected to the piston rod of the cylinder, and the other end of which is used to push upwards upon triggering; an inclined sliding plate fixedly installed on the support frame and located below and to the side of the push rod for receiving the ejected blank and guiding it to slide down; and a mechanical triggering mechanism for triggering the cylinder to operate when the device moves to a predetermined unloading position. Furthermore, the clamping mechanism and the ejection and unloading mechanism are designed in concert, enabling the device to sequentially or synchronously complete the operations of placing workpieces into the mold and ejecting and exporting the formed blanks from the mold within a single reciprocating motion cycle of the robot arm.

[0010] Preferably, in the forging clamping and unloading integrated device, the clamping mechanism includes: a fixed clamping jaw fixedly installed at the front end of the support frame; a movable clamping jaw movably connected to the support frame via a hinge shaft; and a drive linkage assembly, one end of which is hinged to the rear of the movable clamping jaw, and the other end is used to connect to an external drive source to transmit external driving force to the movable clamping jaw, controlling its rotation around the hinge shaft to achieve clamping and releasing actions.

[0011] Preferably, in the forging clamping and unloading integrated device, the mechanical triggering mechanism includes a feeding rod, which is linked to the control valve of the cylinder; when the device reaches the unloading position, the feeding rod contacts an externally fixed limit rod, thereby triggering the control valve and starting the cylinder.

[0012] Preferably, the forging clamping and unloading integrated device further includes a push rod guide structure, which is fixedly installed on the support frame and has a guide hole inside. The push rod passes through the guide hole to ensure that the push rod moves in a straight line.

[0013] Preferably, in the forging clamping and unloading integrated device, the drive linkage group includes a fixed rod, an extension rod, and an extension rod; one end of the fixed rod is hinged to the rear of the movable jaw via a first pin; the other end of the fixed rod is hinged to one end of the extension rod via a second pin; the other end of the extension rod is hinged to one end of the extension rod via a third pin; the other end of the extension rod is used to connect to an external drive source; wherein, the movable jaw is connected to the support frame via its own hinge axis, thereby forming a planar linkage mechanism that converts the linear motion of the external drive source into the rotational motion of the movable jaw about its hinge axis.

[0014] Preferably, in the forging clamping and unloading integrated device, a return spring is provided at the hinge shaft of the moving jaw, which is used to automatically return the moving jaw to the released state when there is no external driving force.

[0015] Preferably, in the forging clamping and unloading integrated device, the slide plate is fixedly installed on the support frame by a slide plate support plate, and its high end is located directly below the mold cavity, while its low end extends to an external collection device.

[0016] The embodiments of this utility model include at least the following beneficial effects: This invention integrates the clamping mechanism and the ejection / unloading mechanism onto the same support frame and links them with a robotic arm, enabling the completion of both the unloading and ejection / unloading processes within a single motion cycle. This significantly simplifies the overall layout of automated forging production lines, reducing the number of independent devices and the floor space required. Through the integration and coordination of actions, the production cycle time for individual workpieces is effectively shortened, avoiding waiting time between devices and providing a structural foundation for improving overall production efficiency.

[0017] This invention achieves automated and precise control of the ejection action by using a cylinder as the ejection power source and equipping it with a mechanical triggering mechanism. This design requires no complex electronic control programs or sensor intervention; it is triggered solely by mechanical contact when the device moves to a specific position. It features a simple structure, rapid response, and reliable operation, reducing the requirements and dependence on the entire production line control system.

[0018] This invention provides precise linear motion trajectory constraints for the ejector rod by setting an independent ejector rod guide structure. This effectively prevents the ejector rod from bending, swaying, or jamming due to lateral forces during ejection, ensuring smooth and stable ejection action, extending the service life of the ejector rod and cylinder, and ensuring accurate ejection position to avoid damage to the mold or blank.

[0019] This invention employs a drive linkage assembly consisting of a fixed rod, an extended rod, and a connecting rod, which cleverly coordinates with the hinge point of the moving gripper to form a highly efficient planar linkage mechanism. This mechanism can smoothly and amplify the linear input from an external drive source (such as a drive cylinder) into the rotary clamping motion required by the moving gripper, achieving effective force transmission and motion form conversion. It features a compact structure, reliable transmission, and ensures sufficient clamping force and opening / closing range.

[0020] This invention provides a passive safety mechanism for the clamping mechanism by incorporating a return spring at the hinge shaft of the moving gripper. When the external driving force is unexpectedly interrupted, the spring's restoring force can drive the moving gripper to automatically and quickly return to the released state, preventing the workpiece from falling off or being damaged due to accidental clamping. It also allows the entire device to return to a predetermined initial position, improving the safety and reliability of the operation process.

[0021] This invention provides a smooth and directional slide for transferring high-temperature blanks by setting an inclined sliding plate with its high end directly below the mold cavity and its low end pointing outwards towards the collection device. This enables automatic and orderly guidance and collection of the blanks after they are ejected, avoiding the risk of burns from high temperatures, damage from collisions, or production line interruptions caused by disorderly drops, thus ensuring the continuity and safety of the production process.

[0022] Other advantages, objectives, and features of the embodiments of this utility model will be apparent in part from the following description, and in part will be understood by those skilled in the art through study and practice of the embodiments of this utility model. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the forging clamping and unloading device in one embodiment of this utility model.

[0024] Figure 2 This utility model Figure 1 A detailed view of point A in the image.

[0025] Figure 3 This is a cross-sectional structural schematic diagram of a forging clamping and unloading device in one embodiment of this utility model. Detailed Implementation

[0026] The embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, so that those skilled in the art can implement them based on the description.

[0027] This utility model proposes a device for integrating forging clamping and unloading, such as... Figure 1 , Figure 2 and Figure 3 As shown, it includes: The support frame 100 has its vertical portion connected to the external robotic arm 7, and its horizontal portion serving as an installation platform. A clamping mechanism 300 is installed at the front end of the transverse portion of the support frame 100 to clamp and release the workpiece; An ejector unloading mechanism is installed on the transverse portion of the support frame 100 and located behind the clamping mechanism 300; Forging mechanism 200; The ejection and unloading mechanism includes: The cylinder 1, which serves as a power source, has its cylinder body fixedly mounted on the support frame 100. Push rod 2, one end of which is coaxially connected to the piston rod of cylinder 1, and the other end is used to push upward when triggered; An inclined sliding plate 6, fixedly mounted on the support frame 100 and located below the top rod 2, is used to receive the ejected blank 18 and guide it to slide down; and A mechanical triggering mechanism is used to trigger the cylinder 1 to operate when the device moves to the predetermined unloading position.

[0028] Furthermore, the clamping mechanism 300 is configured in conjunction with the ejection and unloading mechanism, enabling the device to sequentially or synchronously complete the operations of placing the workpiece into the mold and ejecting and exporting the formed blank 18 from the mold within a single reciprocating motion cycle of the robot arm 7. The robot arm 7 is connected to the support frame 100 via the robot arm connecting device 400.

[0029] In automated forging production, existing technologies typically employ a separate clamping robot 7 working in conjunction with a fixed unloading device. The clamping robot 7 is responsible for placing the billet into the mold, and then must move out of the working area to make way for the fixed unloading device, which then ejects the billet 18. This separate design results in the entire production process consisting of two independent steps that must be executed sequentially. The actions of the robot 7 and the unloading device involve waiting time, which inherently extends the production cycle time per unit. Furthermore, the two independent mechanisms complicate the overall production line layout, occupy more space, and correspondingly increase equipment manufacturing costs and maintenance points.

[0030] This utility model's integrated forging clamping and unloading device uses a T-shaped support frame 100 as its core load-bearing structure. The vertical part of this frame is used to connect to the end of an external robotic arm 7, allowing the entire device to be driven by the robotic arm 7 to reciprocate between the upper and lower die areas of the forging press 200 and the loading point. A clamping mechanism 300 is installed on the horizontal part of the T-shaped support frame 100, i.e., at the front end of the mounting platform. An ejector unloading mechanism is integrated on the same mounting platform behind the clamping mechanism 300. The core of this mechanism is a cylinder 1, whose cylinder body is fixed to the T-shaped support frame 100. The piston rod of the cylinder 1 is coaxially connected to a push rod 2. The push rod 2 is normally in the retracted position. When the robotic arm 7 carries the device to a specific unloading position above the mold, the mechanical trigger mechanism on the device contacts a fixed limiting component on the forging press 200. This contact action instantly triggers the control valve of the cylinder 1, causing the piston rod of the cylinder 1 to extend, thereby pushing the ejector rod 2 upward in a linear motion. The ejector rod 2 pushes upward against the bottom of the lower punch 16 in the mold, smoothly ejecting the forged blank 18 from the mold cavity. The ejected blank 18 then falls onto the slide plate 6, which is inclined and installed below the ejector rod 2, and slides along the inclined surface of the slide plate 6 into a designated collection container.

[0031] This solution creatively integrates the previously separate functions of clamping and unloading into a unified device. Through coordinated movement with the robotic arm 7, it achieves continuous unloading and ejection operations within a single reciprocating cycle. This integrated design fundamentally eliminates the idle waiting time caused by alternating operations between two independent devices, significantly shortening the production cycle. Simultaneously, this device simplifies the overall layout of the automated forging production line, reduces reliance on additional independent unloading devices and their associated control systems, resulting in a more compact equipment structure and helping to reduce system complexity and initial investment costs.

[0032] According to one preferred embodiment of the present invention, the clamping mechanism 300 includes: Fixed clamping claw 5 is fixedly installed at the front end of the support frame 100; The movable gripper 4 is movably connected to the support frame 100 via a hinge shaft; and A drive linkage assembly is included, with one end hinged to the rear of the movable gripper 4 and the other end connected to an external drive source to transmit external driving force to the movable gripper 4, controlling its rotation around the hinge axis to achieve clamping and releasing actions. The clamping mechanism 300 consists of a fixed gripper 5 and a movable gripper 4 movably connected to the frame via a hinge axis. The rear of the movable gripper 4 is hinged to one end of a drive linkage assembly, while the other end of the drive linkage assembly leads to an external drive source. When the external drive source applies a linear force, this linear motion is converted into rotational motion of the movable gripper 4 around its hinge axis through the drive linkage assembly, thereby achieving clamping and releasing of the gripper to complete the grasping and placement of the workpiece. The unique linkage transmission design efficiently and smoothly converts the linear motion of the external drive source into the rotary clamping action of the moving jaws. This not only effectively amplifies the force, obtaining sufficient clamping force with a smaller input, but also creates a self-locking or force-amplifying effect when approaching the clamping position, ensuring firm clamping while maintaining energy efficiency and safety. Secondly, this layout is extremely space-saving, creating conditions for integrating a rear ejector unloading mechanism, which is key to achieving the "clamping and unloading in one" function. Furthermore, the entire mechanism is composed of rigid components with defined motion relationships, rapid response, and high rigidity, capable of withstanding frequent industrial impacts. This ensures long-term durability, precise action, and operational reliability under high-speed production cycles, fundamentally improving the efficiency and stability of automated forging production.

[0033] According to one preferred embodiment of this utility model, the mechanical triggering mechanism includes a feeding rod 8, which is linked to the control valve of the cylinder 1. When the device reaches the unloading position, the feeding rod 8 contacts an externally fixed limiting rod, thereby triggering the control valve and starting the cylinder 1. In this embodiment, the feeding rod 8 moves with the device, and after contacting the limiting rod on the machine tool, it pushes the control valve, causing the cylinder 1 to drive the ejector rod 2 to eject the blank 18. Traditional unloading devices rely on sensors or manual control, which is costly and slow to respond. This embodiment solves the problem of relying on complex control systems for automated triggering of the ejection action. Its beneficial effects are reliable triggering through mechanical contact, simple structure, rapid response, and reduced control costs and maintenance difficulty.

[0034] According to one preferred embodiment of this utility model, it further includes a push rod guide structure, which is fixedly mounted on the support frame 100 and has a guide hole inside. The push rod 2 passes through the guide hole to ensure that the push rod 2 moves in a straight line. In this embodiment, the guide structure is a guide sleeve or a guide block. When the cylinder 1 is actuated, the push rod 2 rises in a straight line along the guide hole, avoiding deflection. Traditional ejection mechanisms lack a guide structure, and the push rod 2 is easily bent or jammed by lateral forces, leading to ejection failure. This embodiment solves the problems of inaccurate push rod movement and easy damage, ensuring the straight movement of the push rod, preventing bending and jamming, and improving the stability of the action and the service life of the components.

[0035] According to one embodiment of the present invention, preferably, the drive linkage assembly includes a fixed rod 3, an extension rod 10, and an extension rod 11; One end of the fixed rod 3 is hinged to the rear of the movable gripper 4 via a first pin; The other end of the fixing rod 3 is hinged to one end of the extension rod 10 via a second pin. The other end of the extension rod 10 is hinged to one end of the extension rod 11 via a third pin. The other end of the extension rod 11 is used to connect to an external drive source; The movable gripper 4 is connected to the support frame 100 via its own hinge axis, thus forming a planar linkage mechanism that converts the linear motion of the external drive source into the rotational motion of the movable gripper 4 around its hinge axis. The specific implementation of the drive linkage assembly includes a fixed rod 3, an extension rod 10, and an extension rod 11. One end of the fixed rod 3 is hinged to the rear of the movable gripper 4 via a first pin; the other end of the fixed rod 3 is hinged to one end of the extension rod 10 via a second pin; the other end of the extension rod 10 is hinged to one end of the extension rod 11 via a third pin; the other end of the extension rod 11 is used to connect to the external drive source. The movable gripper 4 is connected to the support frame 100 via its own hinge axis, thus forming a planar linkage mechanism that converts the linear motion of the external drive source into the rotational motion of the movable gripper 4 around its hinge axis. In this scheme, the external drive source provides linear reciprocating motion, which is converted into the rotational motion of the movable gripper 4 around its hinge axis through this linkage mechanism, thereby realizing the opening and closing of the gripper. Traditional clamping mechanisms 300 may employ gear racks or direct cylinder actuation, resulting in insufficient compactness or unstable force transmission. This solution addresses the technical challenge of efficiently and smoothly converting linear drive into gripper rotational motion. Its advantages include effective force transmission and motion transformation. The mechanism is compact, reliable in transmission, and provides sufficient clamping force and opening / closing range.

[0036] According to one preferred embodiment of this invention, a return spring is provided at the hinge shaft of the movable jaw 4. This spring automatically returns the movable jaw 4 to the released state when there is no external driving force. In this embodiment, when the external driving source stops providing clamping force, the return spring immediately acts, driving the movable jaw 4 to rotate and ensuring the workpiece is released. Traditionally, some clamping mechanisms 300 lack an automatic reset function and may remain clamped in the event of power failure, posing a safety hazard. This solution solves the safety problem that the clamping mechanism 300 may not automatically release when power is interrupted, providing a passive safety mechanism for the clamping mechanism 300, preventing the workpiece from being accidentally clamped or damaged, and improving the safety and reliability of the entire device operation.

[0037] According to one preferred embodiment of this invention, the slide plate 6 is fixedly mounted on the support frame 100 via a slide plate support plate, with its high end located directly below the mold cavity and its low end extending to an external collection device. Optionally, after the ejected high-temperature blank 18 falls into the high end of the slide plate 6, it automatically slides along the inclined surface under gravity and eventually enters the collection device smoothly. Traditional unloading methods may lack a directional guiding mechanism, resulting in the blank 18 falling haphazardly after ejection, easily causing collision damage or production line blockage. This invention solves the technical problem of how to achieve automatic and orderly guidance and collection of the high-temperature blank after it is ejected. Its beneficial effect is that it provides a smooth and directional slide for blank transfer, avoiding production interruptions caused by blanks colliding with each other or falling haphazardly, and ensuring the continuity of the production process and operational safety.

[0038] Intensified market competition has driven companies to continuously improve production efficiency to reduce costs. The integrated forging clamping and unloading automation device combines forging clamping and unloading into one process, simplifying automation and saving on unloading equipment. It reduces separate unloading actions, shortens cycle time, improves production efficiency, and meets the needs of large-scale production.

[0039] In one embodiment of this utility model, a forging clamping and unloading integrated device mainly consists of a cylinder 1, a push rod 2, a fixed rod 3, an extension rod 10, an extension rod 11, a T-shaped support 100, a moving clamp 4, a fixed clamp 5, and a sliding plate 6.

[0040] Working principle of the forging clamping and unloading integrated device: After the forging action is completed and the blank 18 is formed, the upper slide of the forging press 200 drives the upper die 19 to move upward; the robot arm 7 drives the automated device that integrates forging clamping and unloading to clamp the copper tube 17 for unloading. When it reaches the placement position, the ejector rod 8 just hits the limit rod, and the ejector rod 2 pushes out the upper push cylinder 20, pushing out the blank 18. The blank 18 falls on the slide plate 6, slides down the slope direction, and falls onto the inclined surface of the worktable, and then falls into the plug frame.

[0041] The robotic arm 7 drives the integrated clamping and unloading device to exit the forging area and clamp the copper tube 17. At the same time, the upper slider of the forging press 200 drives the upper die 19 downward to complete the forging.

[0042] like Figure 3As shown, the forging clamping and unloading integrated device is fixed to the connection end of the robot arm 7 through its vertical part. The robot arm 7 drives the entire device to reciprocate between the mold area and the loading area of ​​the forging press 200. The core load-bearing and mounting base of the device is the support frame 100. A fixed gripper 5 is rigidly installed at the front end of its horizontal part. The fixed gripper 5 and the movable gripper 4 connected by a hinge shaft together form the clamping mechanism 300, which is used to stably clamp the cylindrical copper tube 17 blank. One end of the drive linkage is hinged to the rear of the movable gripper 4, and the other end is connected to an external drive source, which converts the linear tension or thrust into the rotational opening and closing action of the movable gripper 4, thereby realizing the gripping and releasing of the copper tube 17.

[0043] Behind the clamping mechanism 300, the ejector unloading mechanism is integrated onto the same support frame 100. Its ejector rod 2 is located directly below the lower punch 16 when not in operation. The lower punch 16 and the upper die 19 together form the mold cavity, where the copper tube 17 is forged into a blank 18. The mold components, including the lower punch 16, the backing plate 14, and the pressure sleeve 15, are typically secured within the mold basin 13, which is mounted on the worktable of the forging press 200 using fasteners such as large nuts 9. The upper die 19 is fixed to the bottom of the punch shank 12, which is connected to the upper slide of the forging press 200, driving the upper die 19 to complete the up-and-down forging action.

[0044] After forging is completed, the upper die 19 rises with the upper slide block. The robot arm 7 then moves the device to place the new copper tube 17 into the die. Simultaneously, the device moves to a predetermined position, and the ejector rod 8 on it contacts the fixed limit rod on the side of the machine tool, instantly triggering the control valve of the cylinder 1. The cylinder 1 drives the ejector rod 2 to move upward in a straight line. The ejector rod 2 precisely pushes the bottom of the lower punch 16 upward, and through the upper pusher cylinder 20, it pushes the formed blank 18 out of the die cavity, causing it to detach from the lower punch 16.

[0045] The ejected blank 18 falls into the high end of the inclined sliding plate 6. The sliding plate 6 is firmly installed on the support frame 100 by a support plate. Its inclined plate surface guides the high-temperature blank 18 to slide smoothly in a predetermined direction by its own weight, and finally into the external collection device, completing the entire automated cycle of feeding and unloading.

[0046] The benefits of an integrated forging clamping and unloading device include: simple structure, integrated clamping and unloading, saving on the manufacturing cost of automated devices; combined operation, saving energy consumption during unloading and reducing the cost of blank manufacturing; reduced actions, reduced cycle time, and improved forging production efficiency.

[0047] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. It can be applied to various fields suitable for the embodiments of the present invention. Other modifications can be readily implemented by those skilled in the art. Therefore, without departing from the general concept defined by the claims and their equivalents, the embodiments of the present invention are not limited to the specific details and illustrations shown and described herein.

Claims

1. A device for integrating forging clamping and unloading, characterized in that, include: The support frame has its vertical section connected to an external robotic arm, while its horizontal section serves as an installation platform. A clamping mechanism, installed at the front end of the transverse portion of the support frame, clamps and releases the workpiece; An ejector unloading mechanism is installed on the transverse portion of the support frame and located behind the clamping mechanism; The ejection and unloading mechanism includes: The cylinder, which serves as a power source, has its cylinder body fixedly mounted on the support frame. A push rod, one end of which is coaxially connected to the piston rod of the cylinder, and the other end of which is used to push upward when triggered; An inclined sliding plate, fixedly mounted on the support frame and located below the top rod, receives the ejected blank and guides it to slide down; and A mechanical triggering mechanism that triggers the cylinder to operate when the device moves to the predetermined unloading position; Furthermore, the clamping mechanism and the ejection and unloading mechanism are configured in concert to sequentially or synchronously complete the operations of placing the workpiece into the mold and ejecting and exporting the formed blank from the mold within a single reciprocating motion cycle of the robot arm.

2. The forging clamping and unloading integrated device as described in claim 1, characterized in that, The clamping mechanism includes: Fixed clamping jaws are fixedly installed at the front end of the support frame; A movable gripper movably connected to the support frame via a hinge shaft; and A drive linkage assembly, one end of which is hinged to the rear of the movable gripper, and the other end is used to connect to an external drive source to drive the movable gripper to rotate around the hinge axis, thereby realizing clamping and releasing actions.

3. The forging clamping and unloading integrated device as described in claim 1, characterized in that, The mechanical triggering mechanism includes a feeding rod, which is linked to the control valve of the cylinder. When the device reaches the unloading position, the feeding rod contacts an externally fixed limit rod, triggering the control valve and starting the cylinder.

4. The forging clamping and unloading integrated device as described in claim 1, characterized in that, It also includes a top rod guide structure, which is fixedly installed on the support frame and has a guide hole inside, through which the top rod passes.

5. The forging clamping and unloading integrated device as described in claim 2, characterized in that, The drive linkage assembly includes a fixed rod, an extension rod, and a connecting rod. One end of the fixed rod is hinged to the rear of the movable gripper via a first pin. The other end of the fixing rod is hinged to one end of the extension rod via a second pin. The other end of the extension rod is hinged to one end of the extension rod via a third pin. The other end of the extension rod is used to connect to an external drive source; The movable gripper is connected to the support frame via its own hinge axis, thereby forming a planar linkage mechanism that converts the linear motion of the external drive source into the rotational motion of the movable gripper around its hinge axis.

6. The forging clamping and unloading device as described in any one of claims 2 or 5, characterized in that, A return spring is provided at the hinge shaft of the moving gripper.

7. The forging clamping and unloading integrated device as described in claim 1, characterized in that, The slide plate is fixedly mounted on the support frame by a slide plate support plate, with its high end located directly below the mold cavity and its low end extending to an external collection device.

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