阅读说明：本技术 一种锻件抓取移动设备 (Forging snatchs mobile device ) 是由 王俊杰 祁小明 刘运连 杜红强 于 2021-08-05 设计创作，主要内容包括：本发明提供一种锻件抓取移动设备,包括支撑架、锻件抓取机械手、升降机构和移动机构,升降机构与锻件抓取机械手连接,升降机构用于驱动锻件抓取机械手上下往复运动。移动机构设置于支撑架,移动机构与升降机构连接。通过锻件抓取机械手抓取锻件；通过升降机构驱动锻件抓取机械手上下往复运动,从而改变锻件的高度；通过移动机构驱动升降机构在水平方向上移动,从而实现锻件在空间内自由移动。使用锻件抓取移动设备避免人工使用夹钳夹取工件时热辐射对人体皮肤的伤害,锻件抓取机械手夹取锻件时可以准确快速定位,降低了该工作对操作人员的要求,降低了高温烫伤工作人员的风险,确保锻件夹取工作的高效和安全,以及锻件可进行大批量生产。(The invention provides forging piece grabbing and moving equipment which comprises a support frame, a forging piece grabbing manipulator, a lifting mechanism and a moving mechanism, wherein the lifting mechanism is connected with the forging piece grabbing manipulator and used for driving the forging piece grabbing manipulator to reciprocate up and down. The moving mechanism is arranged on the support frame and is connected with the lifting mechanism. Grabbing the forged piece through a forged piece grabbing manipulator; the forging grabbing manipulator is driven to reciprocate up and down through the lifting mechanism, so that the height of the forging is changed; the lifting mechanism is driven by the moving mechanism to move in the horizontal direction, so that the forge piece can move freely in the space. The damage of thermal radiation to human skin when using the forging to snatch the mobile device and avoid artifical use clamp to press from both sides to get the work piece, can pinpoint when the forging snatchs the manipulator clamp and gets the forging fast, has reduced this work to operating personnel's requirement, has reduced high temperature and has scalded staff's risk, ensures that the forging clamp is got the high efficiency and the safety of work to and the forging can carry out mass production.)

1. The utility model provides a forging snatchs mobile device which characterized in that includes:

a support frame;

the forging grabbing manipulator is used for grabbing the forging;

the lifting mechanism is connected with the forge piece grabbing manipulator and is used for driving the forge piece grabbing manipulator to reciprocate up and down;

the moving mechanism is arranged on the support frame and connected with the lifting mechanism, and the moving mechanism is used for driving the lifting mechanism to move in the horizontal direction.

2. The forging-grasping mobile apparatus of claim 1, wherein the forging-grasping robot comprises:

the gripper frame body is rotationally connected with the lifting mechanism;

the middle parts of the two extension rods are hinged through a pin shaft, the pin shaft is connected with the gripper frame body, and one ends of the two extension rods are respectively provided with a clamping part;

the manipulator driving mechanism is arranged on the gripper frame body and is respectively connected with the other ends of the two extension rods, and the manipulator driving mechanism is used for driving the two clamping parts to be switched between an opening state and a clamping state.

3. The forging-grasping mobile apparatus of claim 2, wherein the robotic drive mechanism comprises:

the manipulator driving motor is arranged on the gripper frame body;

the first screw rod is rotatably connected with the gripper frame body and is connected with a rotating shaft of the manipulator driving motor;

and the two first lead screw nuts are respectively connected with the other ends of the two extension rods in a one-to-one correspondence manner and are in threaded fit with the first lead screws.

4. The forging grabbing and moving device according to claim 2 or 3, wherein a guide mechanism is arranged on the grabbing frame body, the guide mechanism is a guide groove, the end parts of the other ends of the two extension rods are respectively provided with a roller, and the rollers are in sliding fit with the guide groove.

5. The forging grabbing and moving device of claim 3, wherein connecting pieces are respectively arranged at the other ends of the two extension rods, a limiting groove is formed in one side, facing the connecting pieces, of the first lead screw nut, and the connecting pieces are located in the limiting grooves and are in threaded connection with the side walls of the limiting grooves through screws.

6. The forging-grasping mobile apparatus of claim 3, wherein the robotic drive mechanism further comprises:

the first transmission assembly comprises a first belt pulley, a second belt pulley and a belt, the first belt pulley is connected with one end of the screw rod, the second belt pulley is connected with a rotating shaft of the mechanical arm driving motor, and the belt is respectively connected with the first belt pulley and the second belt pulley.

7. The forging-grasping moving apparatus of claim 1, 2, 3, 5, or 6, wherein the moving mechanism comprises:

the first sliding rail is arranged on the supporting frame along a first direction;

the movable frame body is in sliding fit with the first sliding rail, and is provided with a second sliding rail in sliding fit with the lifting mechanism;

the first driving mechanism is respectively connected with the movable frame body and the support frame and is used for driving the movable frame body to reciprocate along a first direction;

and the second driving mechanism is arranged on the movable frame body and connected with the lifting mechanism, and is used for driving the lifting mechanism to reciprocate along a second direction.

8. The forging grabbing and moving device according to claim 7, wherein the first driving mechanism comprises a first driving motor, a transmission shaft, a first driving gear, a first driven gear and a first chain, the first driving motor is arranged on the support frame, the transmission shaft is rotatably connected with one end of the first slide rail, the transmission shaft is connected with a rotating shaft of the first driving motor through a second transmission assembly, the first driving gear is sleeved on the transmission shaft, the first driven gear is rotatably arranged at the other end of the first slide rail, the first chain is respectively engaged with the first driving gear and the first driven gear, and the first chain is connected with the moving frame body;

the second driving mechanism comprises a second driving motor, a second driving gear, a second driven gear and a second chain, the second driving motor is arranged at one end of the movable support body, the second driving gear is connected with a rotating shaft of the second driving motor, the second driven gear is rotatably arranged at the other end of the movable support body, the second chain is respectively engaged with the second driving gear and the second driven gear, and the second chain is connected with the movable support body.

9. The forging-grasping mobile apparatus of claim 7, wherein the lift mechanism comprises:

the bottom of the moving base is provided with a sliding block, the sliding block is in sliding fit with the second sliding rail, and the moving base is provided with an upright column mounting port;

the lifting upright post is arranged at the upright post mounting opening in a vertically sliding manner, and the lower end of the lifting upright post is rotationally connected with the forge piece grabbing manipulator;

the third driving motor is arranged at the top of the lifting upright post;

the second screw rod is rotatably connected with the lifting upright post, and the upper end of the second screw rod is connected with a rotating shaft of the third driving motor through a gear assembly;

and the second lead screw nut is in threaded fit with the second lead screw and is connected with the movable base.

10. The forging grabbing and moving device of claim 9, wherein a plurality of upper limit bearings rotatably connected with the moving base are arranged at the edge of the column mounting opening, and the upper limit bearings are in contact with the side wall of the lifting column.

Technical Field

The invention relates to the field of forging carrying equipment, in particular to forging grabbing and moving equipment.

Background

Due to the excellent properties of titanium and titanium alloys, titanium and titanium alloys have been used in a wide variety of applications in recent years. The titanium alloy forging has high yield strength, and in the process of extruding and forging the titanium alloy forging, in order to reduce the yield strength of the titanium alloy forging material and reduce the power consumption and cost of the titanium alloy forging in the forging process, the titanium alloy forging is generally required to be heated to a higher temperature (approximately equal to 940 ℃) and then forged. The medium and small high-temperature titanium alloy forgings are heavy in weight, strong in heat radiation and high in strength, and the strength of the medium and small high-temperature titanium alloy forgings is rapidly increased along with the reduction of the temperature. At present, the mode of manually using the clamp is mainly adopted for clamping, the clamping and the carrying of the forge piece are completed by using a method of matching a flexible crane with a plurality of people in the clamping process, a worker needs to accurately and quickly clamp the high-temperature forge piece from a charging tray of a heating furnace, and in the process, the heating furnace door is opened, so that the heat radiation damage to a human body is large. Simultaneously, because the forging of getting is heavier, consequently need many people to cooperate to accomplish the transport under the assistance of flexible hanging.

The clamping and carrying mode of the high-temperature titanium alloy forging can meet the basic requirements of current forging and pressing, but still has many defects and shortcomings, and mainly has the following points:

1. the forging heating temperature is high, and when the clamp was got to artifical use clamp, the heat radiation had very big harm to human skin and safety.

2. The forging requires the workman to have higher work proficiency at the in-process of getting to press from both sides and getting the transport, and the heavier forging of high temperature leads to workman's scald very easily, causes very big threat to personal safety.

3. The titanium alloy forging piece is clamped manually, the reliability of work cannot be guaranteed, the efficiency is low, and the situation that the workpiece is clamped firmly due to the fact that the workpiece slides down and finally needs to be returned can often occur when the workpiece is clamped.

4. The manual clamping cannot guarantee the production of large-batch forgings, and workers must have a certain rest after working for a period of time at a high temperature so as to keep full physical strength and production safety.

Disclosure of Invention

The invention provides forging piece grabbing and moving equipment which is used for solving the problems of large thermal radiation damage and low working efficiency in the forging piece clamping process in the prior art.

The invention provides forging grabbing and moving equipment, which comprises:

a support frame;

the forging grabbing manipulator is used for grabbing the forging;

the lifting mechanism is connected with the forge piece grabbing manipulator and is used for driving the forge piece grabbing manipulator to reciprocate up and down;

the moving mechanism is arranged on the support frame and connected with the lifting mechanism, and the moving mechanism is used for driving the lifting mechanism to move in the horizontal direction.

According to the forging grabbing mobile device provided by the invention, the forging grabbing mechanical arm comprises:

the gripper frame body is rotationally connected with the lifting mechanism;

the middle parts of the two extension rods are hinged through a pin shaft, the pin shaft is connected with the gripper frame body, and one ends of the two extension rods are respectively provided with a clamping part;

the manipulator driving mechanism is arranged on the gripper frame body and is respectively connected with the other ends of the two extension rods, and the manipulator driving mechanism is used for driving the two clamping parts to be switched between an opening state and a clamping state.

According to the forge piece grabbing and moving device provided by the invention, the mechanical arm driving mechanism comprises:

the manipulator driving motor is arranged on the gripper frame body;

the first screw rod is rotatably connected with the gripper frame body and is connected with a rotating shaft of the manipulator driving motor;

and the two first lead screw nuts are respectively connected with the other ends of the two extension rods in a one-to-one correspondence manner and are in threaded fit with the first lead screws.

According to the forge piece grabbing and moving device provided by the invention, the grabbing frame body is provided with the guide mechanism which is a guide groove, the end parts of the other ends of the two extension rods are respectively provided with the idler wheels, and the idler wheels are in sliding fit with the guide groove.

According to the forge piece grabbing and moving device provided by the invention, the other ends of the two extension rods are respectively provided with a connecting piece, one side of the first lead screw nut, which faces the connecting piece, is provided with a limiting groove, and the connecting piece is positioned in the limiting groove and is in threaded connection with the side wall of the limiting groove through a screw.

According to the forge piece grabbing and moving device provided by the invention, the manipulator driving mechanism further comprises:

the first transmission assembly comprises a first belt pulley, a second belt pulley and a belt, the first belt pulley is connected with one end of the screw rod, the second belt pulley is connected with a rotating shaft of the mechanical arm driving motor, and the belt is respectively connected with the first belt pulley and the second belt pulley.

According to the forging grabbing and moving device provided by the invention, the moving mechanism comprises:

the first sliding rail is arranged on the supporting frame along a first direction;

the movable frame body is in sliding fit with the first sliding rail, and is provided with a second sliding rail in sliding fit with the lifting mechanism;

the first driving mechanism is respectively connected with the movable frame body and the support frame and is used for driving the movable frame body to reciprocate along a first direction;

and the second driving mechanism is arranged on the movable frame body and connected with the lifting mechanism, and is used for driving the lifting mechanism to reciprocate along a second direction.

According to the forge piece grabbing and moving device provided by the invention, the first driving mechanism comprises a first driving motor, a transmission shaft, a first driving gear, a first driven gear and a first chain, the first driving motor is arranged on the support frame, the transmission shaft is rotatably connected with one end of the first slide rail, the transmission shaft is connected with a rotating shaft of the first driving motor through a second transmission assembly, the first driving gear is sleeved on the transmission shaft, the first driven gear is rotatably arranged at the other end of the first slide rail, the first chain is respectively meshed with the first driving gear and the first driven gear, and the first chain is connected with the moving frame body;

the second driving mechanism comprises a second driving motor, a second driving gear, a second driven gear and a second chain, the second driving motor is arranged at one end of the movable support body, the second driving gear is connected with a rotating shaft of the second driving motor, the second driven gear is rotatably arranged at the other end of the movable support body, the second chain is respectively engaged with the second driving gear and the second driven gear, and the second chain is connected with the movable support body.

According to the forging grabbing and moving device provided by the invention, the lifting mechanism comprises:

the bottom of the moving base is provided with a sliding block, the sliding block is in sliding fit with the second sliding rail, and the moving base is provided with an upright column mounting port;

the lifting upright post is arranged at the upright post mounting opening in a vertically sliding manner, and the lower end of the lifting upright post is rotationally connected with the forge piece grabbing manipulator;

the third driving motor is arranged at the top of the lifting upright post;

the second screw rod is rotatably connected with the lifting upright post, and the upper end of the second screw rod is connected with a rotating shaft of the third driving motor through a gear assembly;

and the second lead screw nut is in threaded fit with the second lead screw and is connected with the movable base.

According to the forge piece grabbing and moving device provided by the invention, a plurality of upper limiting bearings which are rotatably connected with the moving base are arranged at the edge of the upright post mounting opening, and the upper limiting bearings are in contact with the side wall of the lifting upright post.

The forge piece grabbing mobile device provided by the invention grabs a forge piece through the forge piece grabbing manipulator; the forging grabbing manipulator is driven to reciprocate up and down through the lifting mechanism, so that the height of the forging is changed; the lifting mechanism is driven by the moving mechanism to move in the horizontal direction, so that the forge piece can move freely in the space. The damage of thermal radiation to human skin when using the forging to snatch the mobile device and avoid artifical use clamp to press from both sides to get the work piece, can pinpoint when the forging snatchs the manipulator clamp and gets the forging fast, has reduced this work to operating personnel's requirement, has reduced high temperature and has scalded staff's risk, ensures that the forging clamp is got the high efficiency and the safety of work to and the forging can carry out mass production.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic perspective view of a forging grabbing and moving device provided by the invention;

FIG. 2 is a schematic top view of the forging grasping robot provided by the present invention;

FIG. 3 is a schematic bottom view of the forging grasping robot provided by the present invention;

FIG. 4 is a schematic structural view of the forging grabbing mobile device provided by the invention with the maintenance platform removed;

FIG. 5 is a schematic view of the connection relationship among the movable frame, the second driving mechanism, the lifting mechanism and the forging grabbing manipulator provided by the invention;

FIG. 6 is a schematic view of the connection relationship between the lifting mechanism and the forging grabbing manipulator provided by the invention.

Reference numerals:

100. a forge piece grabbing manipulator; 101. a gripper frame body; 102. an extension pole; 103. a clamping portion; 104. a bayonet; 105. a manipulator drive motor; 106. a first lead screw; 107. a first lead screw nut; 108. a guide groove; 109. an arc-shaped plate; 110. a connecting member; 111. operating the armrest; 112. a roller; 200. a support frame; 201. mounting the upright post; 202. a power strip; 203. a cross beam; 300. a moving mechanism; 301. a first slide rail; 302. moving the frame body; 304. a second slide rail; 305. a first drive motor; 306. a drive shaft; 307. a first drive gear; 308. a first driven gear; 309. a first chain; 310. a second drive motor; 311. a second driving gear; 312. a second driven gear; 313. a second chain; 400. a lifting mechanism; 401. moving the base; 403. lifting the upright post; 404. a third drive motor; 405. a second lead screw; 406. a gear assembly; 407. a second feed screw nut; 408. an upper limit bearing; 409. a lower limit bearing; 500. and (5) overhauling the platform.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

The forging grasping movement apparatus of the present invention is described below in conjunction with fig. 1-6.

Fig. 1 illustrates a schematic perspective structure of the forge piece grabbing mobile device provided by the present invention, and as shown in fig. 1, the forge piece grabbing mobile device includes a support frame 200, a forge piece grabbing manipulator 100, a lifting mechanism 400, and a moving mechanism 300, where the forge piece grabbing manipulator 100 is used for grabbing a forge piece. The lifting mechanism 400 is connected with the forging grabbing manipulator 100, and the lifting mechanism 400 is used for driving the forging grabbing manipulator 100 to reciprocate up and down. The moving mechanism 300 is disposed on the supporting frame 200, the moving mechanism 300 is connected to the lifting mechanism 400, and the moving mechanism 300 is used for driving the lifting mechanism 400 to move in a horizontal direction.

The forge piece grabbing mobile device provided by the invention grabs a forge piece through the forge piece grabbing mechanical arm 100; the forging grabbing manipulator 100 is driven to reciprocate up and down through the lifting mechanism 400, so that the height of the forging is changed; the lifting mechanism 400 is driven by the moving mechanism 300 to move in the horizontal direction, so that the forge piece can move freely in the space. The damage of thermal radiation to human skin when using the forging to snatch the mobile device and avoid artifical use clamp to press from both sides to get the work piece, the forging snatchs manipulator 100 and gets can be accurate quick location when getting the forging, has reduced this work to operating personnel's requirement, has reduced high temperature and has scalded staff's risk, ensures that the forging is got the high efficiency and the safety of work to and the forging can carry out mass production.

According to an embodiment of the invention, fig. 2 illustrates a schematic top view structure of a forge piece grabbing manipulator provided by the invention, fig. 3 illustrates a schematic bottom view structure of a forge piece grabbing manipulator provided by the invention, and as shown in fig. 2 and fig. 3, a forge piece grabbing manipulator 100 includes a grab frame body 101, two extension rods 102 and a manipulator driving mechanism, the middle parts of the two extension rods 102 are hinged through a pin shaft, the pin shaft is connected with the grab frame body 101, and one ends of the two extension rods 102 are respectively provided with a clamping part 103. The manipulator driving mechanism is arranged on the gripper frame body 101, the manipulator driving mechanism is respectively connected with the other ends of the two extension rods 102, and the manipulator driving mechanism is used for driving the two clamping parts 103 to be switched between an opening state and a clamping state. According to the forge piece grabbing manipulator 100 provided by the invention, the two clamping parts 103 are driven by the manipulator driving mechanism to be switched between the opening state and the clamping state, so that the forge piece is automatically grabbed and released, the problem of large thermal radiation damage in the process of manually clamping the forge piece by using the clamp is avoided, and the safety of the operation process is improved.

According to the embodiment of the invention, the distance between the pin shaft and the end part of one end of the extension rod 102 is smaller than the distance between the pin shaft and the end part of the other end of the extension rod 102, so that the arrangement has the advantage that the mechanical arm driving mechanism has a larger force arm and can clamp the forge piece more stably.

According to the embodiment of the present invention, the clamping portion 103 is detachably connected to one end of the corresponding extension rod 102, in this embodiment, a plurality of bolt holes are respectively formed at intervals between the clamping portion 103 and one end of the extension rod 102, and the clamping portion 103 is connected to one end of the extension rod 102 through bolts in the bolt holes. Due to the fact that the clamping portion 103 is detachably connected with the extension rod 102, the worn clamping portion 103 can be replaced conveniently.

According to the embodiment of the invention, the bayonet 104 is arranged at one end of the clamping part 103 far away from the extension rod 102, the bayonet 104 is U-shaped, and the U-shaped bayonet 104 can clamp the forge piece more stably in the process of clamping the forge piece, so that the forge piece can be effectively prevented from falling off in the carrying process.

Here, the shape of the bayonet 104 is not limited to the U shape, and may be a C shape, specifically, determined according to the shape of the forged piece.

According to an embodiment of the present invention, the robot driving mechanism includes a robot driving motor 105, a first lead screw 106, and two first lead screw nuts 107, and the robot driving motor 105 is disposed at the gripper body 101. The first lead screw 106 is rotatably connected to the gripper frame body 101 and is connected to a rotation shaft of the robot driving motor 105. The two first lead screw nuts 107 are respectively connected with the other ends of the two extension rods 102 in a one-to-one correspondence manner, and the two first lead screw nuts 107 are respectively in threaded fit with the first lead screw 106. When manipulator driving motor 105 forward rotates, first lead screw 106 follows manipulator driving motor 105 forward and rotates, and under the cooperation of first screw-nut 107 and first lead screw 106, two extension bars 102 rotate around the round pin axle, and the one end of two extension bars 102 is close to each other, and the other end of two extension bars 102 also is close to each other to drive two clamping parts 103 and be close to each other, finally make clamping state. When the manipulator driving motor 105 rotates reversely, the first lead screw 106 rotates reversely along with the manipulator driving motor 105, the two extension rods 102 rotate around the pin shaft under the matching of the first lead screw nut 107 and the first lead screw 106, one ends of the two extension rods 102 are away from each other, and the other ends of the two extension rods 102 are also away from each other, so that the two clamping portions 103 are driven to be away from each other, and finally the clamping portions 103 are in an open state. By controlling the manipulator driving motor 105, accurate, fast and stable positioning of the forging grabbing manipulator 100 can be realized, and the working efficiency and accuracy are improved.

According to the embodiment of the invention, the gripper frame body 101 is provided with a guide mechanism, and the end parts of the other ends of the two extension rods 102 are respectively movably matched with the guide mechanism. The arrangement of the guide mechanism can make the extension rod 102 rotate around the pin more stably.

According to the embodiment of the present invention, the guiding mechanism is a guiding slot 108, and the guiding slot 108 is formed by two arc plates 109 which are arranged in parallel and at intervals. The two arc plates 109 are horizontally arranged and are respectively connected with the gripper frame body 101. The other ends of the two extension rods 102 are respectively provided with a roller 112, the roller 112 is positioned in the guide groove 108 between the two arc plates 109, and the roller 112 is in sliding fit with the arc plates 109.

It should be noted that the specific form of the guiding mechanism may be various, and is not limited to the form of the guiding groove 108, and may also be an arc-shaped guiding rod, and the end portions of the other ends of the two extending rods 102 are respectively slidably sleeved on the guiding rod.

According to the embodiment of the invention, the other ends of the two extension rods 102 are respectively provided with a connecting piece 110, one side of the first lead screw nut 107 facing the connecting piece 110 is provided with a limiting groove, the connecting piece 110 is positioned in the limiting groove, the connecting piece 110 is in threaded fit with a screw, and the screw is in threaded connection with the side wall of the limiting groove. Since the extension pole 102 may be bent after a certain period of use, which affects the engagement of the two clamping portions 103, it is necessary to adjust the position of the extension pole 102. During adjustment, the screw rod is rotated to drive the connecting piece 110 to move in the limiting groove, so that the position of the extension rod 102 can be finely adjusted.

According to the embodiment of the present invention, the manipulator driving mechanism further includes a transmission assembly, the transmission assembly is respectively connected to the rotating shaft of the manipulator driving motor 105 and the first lead screw 106, and the transmission assembly is configured to drive the first lead screw 106 to rotate when the manipulator driving motor 105 rotates.

According to an embodiment of the present invention, the transmission assembly includes a first pulley connected to one end of the first lead screw 106, a second pulley connected to a rotation shaft of the robot driving motor 105, and a belt connected to the first pulley and the second pulley, respectively.

It should be noted that the specific form of the transmission assembly is not limited to the combination of the first pulley, the second pulley and the belt, and may be in the form of a gear set.

According to an embodiment of the present invention, the robot driving mechanism further includes an operating handle 111, and the operating handle 111 is connected to the gripper frame body 101. In the embodiment, the operating handle 111 is hinged to the gripper frame body 101, and when the direction of the forge piece grabbing manipulator 100 needs to be manually changed, the forge piece grabbing manipulator 100 can be rotated to the correct direction by holding the operating handle 111 and rotating the operating handle 111 along the horizontal direction. When manual operation is not required or when the forging grasping robot 100 needs to be carried, the operating arm 111 can be folded up to reduce the space occupied by the forging grasping robot 100. The arrangement of the operation handrails 111 enables a worker to stand at a far position to control the clamping of the forge piece, the problem that the thermal radiation damage is large in the process of manually clamping the forge piece by using the clamp is further avoided, and the safety of the operation process is improved.

According to an embodiment of the present invention, the forging grabbing robot 100 comprises a grabbing frame body 101, two extension rods 102, a robot driving mechanism and an operating handle 111, wherein the operating handle 111 is hinged to the grabbing frame body 101.

The middle parts of the two extension rods 102 are hinged through a pin shaft, the pin shaft is connected with the hand grip frame body 101, and one ends of the two extension rods 102 are respectively provided with a clamping part 103. A plurality of bolt holes are respectively formed in the clamping portion 103 and one end of the extension rod 102 at intervals, and the clamping portion 103 is connected with one end of the extension rod 102 through bolts in the bolt holes. One end, far away from extension rod 102, of clamping portion 103 is provided with bayonet 104, and bayonet 104 is the U style of calligraphy, and the bayonet 104 of U style of calligraphy can be more firm with the forging centre gripping at the in-process of centre gripping forging, can effectively avoid the forging to take place to drop in handling. The shape of the bayonet 104 is not limited to the U shape, and may be a C shape, specifically determined according to the shape of the forged piece.

The manipulator driving mechanism is arranged on the gripper frame body 101 and used for driving the two clamping parts 103 to be switched between the opening state and the clamping state. The manipulator driving mechanism comprises a manipulator driving motor 105, a first lead screw 106, two first lead screw nuts 107 and a transmission assembly, and the manipulator driving motor 105 is arranged on the gripper frame body 101. The first lead screw 106 is rotatably connected with the gripper frame body 101 through two mounting seats, the two first lead screw nuts 107 are respectively in one-to-one correspondence with the two extension rods 102, and the two first lead screw nuts 107 are respectively in threaded fit with the first lead screw 106. The other ends of the two extension rods 102 are respectively provided with a connecting piece 110, one side of the first lead screw nut 107 facing the connecting piece 110 is provided with a limiting groove, the connecting piece 110 is positioned in the limiting groove, the connecting piece 110 is in threaded fit with a screw, and the screw is in threaded connection with the side wall of the limiting groove.

The transmission assembly is used for driving the first lead screw 106 to rotate when the manipulator driving motor 105 rotates, the transmission assembly comprises a first belt pulley, a second belt pulley and a belt, the first belt pulley is connected with one end of the first lead screw 106, the second belt pulley is connected with a rotating shaft of the manipulator driving motor 105, and the belt is connected with the first belt pulley and the second belt pulley respectively.

The gripper frame body 101 is provided with a guide mechanism which is a guide groove 108, and the guide groove 108 is formed by two arc-shaped plates 109 which are arranged in parallel and at intervals. The two arc plates 109 are horizontally arranged, and the two arc plates 109 are respectively connected with the gripper frame body 101. The other ends of the two extension rods 102 are respectively provided with a roller 112, the roller 112 is positioned in the guide groove 108 between the two arc plates 109, and the roller 112 is in sliding fit with the arc plates 109.

According to an embodiment of the present invention, fig. 4 illustrates a schematic structural view of the forge piece grabbing and moving device provided by the present invention after an overhaul platform is removed, as shown in fig. 4, the support frame 200 includes a plurality of mounting columns 201, the plurality of mounting columns 201 are arranged in two rows along the first direction, the mounting columns 201 in the same row are arranged at intervals, a distance between two adjacent mounting columns 201 is specifically determined according to a bearing capacity, when the bearing capacity of the support frame 200 is large, a distance between two adjacent mounting columns 201 is small, and when the bearing capacity of the support frame 200 is small, a distance between two adjacent mounting columns 201 is large, so as to reduce the number of mounting columns 201. Of course, the specific form of the stand 200 is not limited thereto, and other forms of the stand 200 may be used.

According to the embodiment of the invention, in order to facilitate the maintenance of the forge piece grabbing mobile device by workers, the supporting frame 200 is provided with the maintenance platform 500.

According to an embodiment of the present invention, as shown in fig. 4, the moving mechanism 300 includes two first sliding rails 301, a moving frame 302, a first driving mechanism and a second driving mechanism, the two first sliding rails 301 are disposed at the top of the supporting frame 200 along a first direction, and the two first sliding rails 301 are disposed in parallel and spaced apart from each other. Remove support body 302 and extend along the second direction, the both ends of removing support body 302 are provided with the gyro wheel mounting bracket respectively, and two gyro wheel mounting brackets are located the outside of the first slide rail 301 that corresponds, install gyro wheel 112 on the gyro wheel mounting bracket, remove the both ends of support body 302 respectively through gyro wheel 112 and the first slide rail 301 sliding fit that corresponds. The two ends of the movable frame body 302 are further provided with limiting pieces, the limiting pieces and the corresponding roller mounting frames are arranged at intervals, and the limiting pieces are located on the inner sides of the corresponding first slide rails 301. The first slide rail 301 is disposed between the corresponding limiting member and the roller mounting bracket, so as to prevent the moving frame 302 from moving along the second direction.

It should be noted that the outside of the first slide rail 301 refers to a side of the first slide rail 301 facing away from the other first slide rail 301, and the inside of the first slide rail 301 refers to a side of the first slide rail 301 facing toward the other first slide rail 301.

The top of the moving frame body 302 is provided with two second sliding rails 304 at intervals, the second sliding rails 304 extend along the second direction, and the second sliding rails 304 are used for being in sliding fit with the lifting mechanism 400, so that the lifting mechanism 400 can move along the second direction. The first driving mechanism is connected to the movable frame 302 and the supporting frame 200, and the first driving mechanism is configured to drive the movable frame 302 to reciprocate along a first direction. The second driving mechanism is disposed on the movable frame 302 and connected to the lifting mechanism 400, and the second driving mechanism is configured to drive the lifting mechanism 400 to reciprocate along a second direction.

It should be noted here that the first direction is perpendicular to the second direction, in this embodiment, the first direction is an X-axis direction, and the second direction is a Y-axis direction, and the first driving mechanism, the second driving mechanism, and the lifting mechanism 400 cooperate to realize automatic movement of the forged piece in the space, so that the forged piece can be conveyed to different positions.

According to the embodiment of the present invention, as shown in fig. 4, the first driving mechanism includes a first driving motor 305, a transmission shaft 306, a first driving gear 307, a first driven gear 308, and a first chain 309, a cross beam 203 is disposed at the top of the supporting frame 200 for facilitating installation of the first driving motor 305, the cross beam 203 extends along the second direction, and the first driving motor 305 is disposed on the cross beam 203. The transmission shaft 306 is disposed along the second direction and located between the two first slide rails 301, one end of the transmission shaft 306 is rotatably connected with one end of one first slide rail 301, and the other end of the transmission shaft 306 is rotatably connected with one end of the other first slide rail 301. The transmission shaft 306 is connected with the rotating shaft of the first driving motor 305 through a second transmission component, the second transmission component comprises a driving belt pulley, a driven belt pulley and a second belt, the driving belt pulley is connected with the rotating shaft of the first driving motor 305, the driven belt pulley is sleeved on the transmission shaft 306, and the driven belt pulley is connected with the driving belt pulley through the second belt. The number of the first driving gears 307 is two, the two first driving gears 307 are respectively sleeved at two ends of the transmission shaft 306, and the first driving gears 307 are coaxially arranged with the transmission shaft 306. The number of the first driven gears 308 is also two, the two first driven gears 308 are rotatably disposed at the other end of the corresponding first slide rail 301, and the first driven gears 308 and the first driving gear 307 are both located at the inner side of the corresponding first slide rail 301. The number of the first chains 309 is also two, one end of each first chain 309 bypasses the corresponding first driving gear 307 and then is connected to the limiting member through a first connecting bolt, the other end of each first chain 309 bypasses the corresponding first driven gear 308 and then is connected to the limiting member through a first connecting bolt, and the first chains 309 are respectively engaged with the first driving gear 307 and the first driven gear 308.

When the first driving motor 305 is controlled to rotate, the first driving motor 305 drives the transmission shaft 306 to rotate, the transmission shaft 306 drives the two first chains 309 to move through the two first driving gears 307, and the first chains 309 drive the moving frame body 302 to reciprocate along the first direction, so that the horizontal movement of the forge piece along the first direction is realized.

Here, the number of the first driving gear 307, the first driven gear 308, and the first chain 309 is not limited to two, and may be one. The specific form of the first driving mechanism is not limited to the combination of the above components, and the first driving mechanism may be in the form of a lead screw module. The first connecting bolt can also adjust the tightness of the first chain 309 in addition to the connecting function, and after the first chain 309 is used for a period of time, the tightness of the first chain 309 can be changed by rotating the first connecting bolt.

Fig. 5 illustrates a connection relationship diagram of the moving frame body, the second driving mechanism, the lifting mechanism and the forge piece grabbing manipulator provided by the present invention, as shown in fig. 5, the second driving mechanism includes a second driving motor 310, a second driving gear 311, a second driven gear 312 and a second chain 313, the second driving motor 310 is disposed at one end of the moving frame body 302, the second driving gear 311 is connected with a rotating shaft of the second driving motor 310, and the second driven gear 312 is rotatably disposed at the other end of the moving frame body 302. One end of the second chain 313 bypasses the second driving gear 311 and then is connected to the moving frame 302, i.e. the moving base 401, by a second connecting bolt. The other end of the second chain 313 bypasses the second driven gear 312 and then is connected with the moving frame 302 through a second connecting bolt, that is, is connected with the moving base 401, and the second chain 313 is engaged with the second driving gear 311 and the second driven gear 312 respectively. In order to prevent the power line and the control line connected to the second driving motor 310 from being worn during the movement of the moving frame 302, the power line and the control line of the second driving motor 310 may be installed in the power strip 202.

When the second driving motor 310 is controlled to rotate, the second driving motor 310 drives the second driving gear 311 to rotate, and the rotating second driving gear 311 drives the lifting mechanism 400 to reciprocate along the second direction through the second chain 313. Through the cooperation of first actuating mechanism and second actuating mechanism, can carry the forging to different positions in the horizontal plane.

According to an embodiment of the invention, fig. 6 illustrates a schematic connection relationship diagram of the lifting mechanism and the forge piece grabbing manipulator provided by the invention, as shown in fig. 6, the lifting mechanism 400 includes a moving base 401, a lifting upright 403, a third driving motor 404, a second lead screw 405 and a second lead screw nut 407, a slider is arranged at the bottom of the moving base 401, the slider is clamped on the second slide rail 304, and the slider is in sliding fit with the second slide rail 304. The movable base 401 is provided with a column mounting opening, the size of which matches with the size of the cross section of the lifting column 403. The lifting upright column 403 is arranged at the upright column mounting opening in a vertically sliding manner, and the lower end of the lifting upright column 403 is rotatably connected with the gripper frame body 101 of the forge piece gripping manipulator 100 through a bearing, so that the forge piece gripping manipulator 100 can freely rotate in the horizontal plane. In the process of clamping and carrying the forged piece, the direction of the forged piece can be adjusted by manually rotating the forged piece grabbing mechanical arm 100. The rotating action of the forge piece grabbing manipulator 100 is kept as manual operation, and the purposes of safety, reliability and stability are achieved while the working efficiency and accuracy of the clamping work are improved. The third driving motor 404 is disposed on the top of the lifting column 403, and the middle of the lifting column 403 is hollow. The second screw 405 is disposed in a hollow region of the lifting column 403, an upper end of the second screw 405 is rotatably connected to an upper end of the lifting column 403, a lower end of the second screw 405 is rotatably connected to a lower end of the lifting column 403, and an upper end of the second screw 405 is connected to a rotation shaft of the third driving motor 404 through a gear assembly 406. The second lead screw nut 407 is in threaded fit with the second lead screw 405, and the second lead screw nut 407 is connected with the movable base 401 through a bolt. In order to prevent the power line and the control line connected to the third driving motor 404 from being worn during the movement of the mobile base 401, the power line and the control line of the third driving motor 404 may be installed in the power strip 202.

When the third driving motor 404 is controlled to rotate, the third driving motor 404 drives the second lead screw 405 to rotate through the gear assembly 406, the rotating second lead screw 405 assembly drives the lifting upright 403 to reciprocate up and down through the second lead screw nut 407, and the lifting upright 403 drives the forge piece grabbing manipulator 100 to reciprocate up and down, so that the forge piece can reciprocate up and down.

According to the embodiment of the invention, a plurality of upper limit bearings 408 which are rotatably connected with the movable base 401 are arranged at the edge of the column mounting port, and the upper limit bearings 408 are in contact with the side wall of the lifting column 403. The bottom of moving base 401 also is provided with down spacing bearing 409, and spacing bearing 409 rotates with moving base 401 to be connected down, and spacing bearing 409 arranges around lift stand 403 down to with the lateral wall contact of lift stand 403. The upper limit bearing 408 and the lower limit bearing 409 are matched to enable the lifting upright column 403 to reciprocate up and down in a limited range, and meanwhile, the lifting upright column 403 can move up and down more stably, so that the stability of the forge piece grabbing and moving equipment is improved.

The forge piece grabbing and moving device provided by the invention realizes semi-automation of forge piece clamping by grabbing a forge piece through the forge piece grabbing manipulator 100, realizes automation of forge piece moving by matching the lifting mechanism 400 and the moving mechanism 300, keeps the rotation action of the forge piece grabbing manipulator 100 for manual operation, and achieves the purposes of safety, reliability and stability while improving the working efficiency and accuracy of clamping work.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.