CN116213633A - Vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment - Google Patents

Abstract

A vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment are located in a material transferring chamber, the material transferring chamber is communicated with a material inlet and outlet chamber, a heating chamber and a forging chamber, the material inlet and outlet chamber, the heating chamber and the forging chamber are distributed around the material transferring chamber, the material transferring chamber and the forging chamber are in vacuum, the manipulator transfers materials among the material inlet and outlet chamber, the heating chamber and the forging chamber, and the manipulator comprises: the base is arranged in the material moving chamber; the clamp is arranged on the base; the first moving mechanism is arranged on the base and used for driving the clamp to linearly move in the horizontal direction; the second moving mechanism is arranged on the base and used for driving the clamp to move in the up-down direction; and the rotating mechanism is arranged on the base and used for driving the clamp to rotate by taking the up-down direction as the axis. The movable range of the clamp can be reduced, so that the material moving space of the adaptive manipulator is reduced. Therefore, the difficulty of maintaining the preset vacuum degree of the material moving chamber and the forging chamber can be reduced.

Description

Vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment

Technical Field

The invention relates to the technical field of metal forging forming, in particular to a vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment.

Background

A material transfer manipulator for vacuum isothermal forging is characterized in that forging of materials is required to be completed in a vacuum environment. In industrial production, materials are often transferred using articulated robots. When the multi-joint robot transfers materials, the mechanical arms of each section are driven to rotate through rotation of a plurality of joints, so that the transfer of the materials is realized. Therefore, when the robot transfers materials, a larger operation space is needed, so that the vacuumizing efficiency can be influenced, and the difficulty of maintaining vacuum is increased.

Other conceivable manipulator forms include multi-link manipulator represented by foreign GLAMA, but the required operation space is larger than that of multi-joint robots, and in addition, the structural form of the multi-link manipulator determines that the positioning accuracy is not high, and the positioning accuracy required by vacuum isothermal forging material transfer is difficult to achieve.

Therefore, there is a need for a vacuum isothermal forging material transfer manipulator and a vacuum isothermal forging apparatus that can reduce the operation space and improve the positioning accuracy during material transfer.

Disclosure of Invention

The application provides a vacuum isothermal forging material transfer manipulator and vacuum isothermal forging equipment can reduce operating space, improves the positioning accuracy when material shifts.

To achieve the above object, a first aspect of the present application provides a vacuum isothermal forging material transfer manipulator, which is characterized in that the manipulator is located in a material transfer chamber, the material transfer chamber is communicated with a material inlet and outlet chamber, a heating chamber and a forging chamber, the material inlet and outlet chamber, the heating chamber and the forging chamber are distributed around the material transfer chamber, the material transfer chamber and the forging chamber are vacuum, the manipulator is in the material inlet and outlet chamber, the heating chamber and the forging chamber, the manipulator comprises: the base is arranged in the material moving chamber; the clamp is arranged on the base; the first moving mechanism is arranged on the base and used for driving the clamp to linearly move in the horizontal direction; the second moving mechanism is arranged on the base and used for driving the clamp to move in the up-down direction; and the rotating mechanism is arranged on the base and used for driving the clamp to rotate by taking the up-down direction as the axis.

The clamp can be driven to rotate through the rotating mechanism, so that the orientation of the clamp is changed, and the clamp can be oriented to the feeding and discharging chamber, the heating chamber or the forging chamber. The clamp is driven to linearly move in the horizontal direction through the first moving mechanism, and the clamp can extend into the chamber after facing the feeding and discharging chamber, the heating chamber or the forging chamber, so as to clamp materials. The second moving mechanism can drive the clamp to move up and down so as to clamp or put down the materials. Therefore, the clamp can be moved more simply and directly, and the positioning precision during material transfer can be improved. In addition, the movable range of the clamp can be reduced, so that the material moving space of the adaptive manipulator is reduced. Therefore, the difficulty of maintaining the preset vacuum degree of the material moving chamber and the forging chamber can be reduced.

As a possible implementation manner of the first aspect, the manipulator further includes: the third moving mechanism is arranged on the base and used for driving the clamp to move along the first direction; wherein, move the material room with two in the business turn over material room, heating chamber, the forging room are laid along the first direction.

By the above, through setting up third moving mechanism drive clamp and follow the first direction and remove, can increase the range of motion of clamp to can increase the space of laying of business turn over material room, heating chamber and forging room, the convenience is gone into laying of business turn over material room, heating chamber and forging room.

As a possible implementation manner of the first aspect, the third moving mechanism is disposed on an upper portion of the base, the second moving mechanism is disposed on an upper portion of the third moving mechanism, and the third moving mechanism drives the second moving mechanism to move along the first direction; the rotating mechanism is arranged on the second moving mechanism, and the second moving mechanism drives the rotating mechanism to move along the up-down direction; the first moving mechanism is arranged on the rotating mechanism, and the rotating mechanism drives the first moving mechanism to rotate by taking the up-down direction as the axis; the clamp is arranged on the first moving mechanism, and the first moving mechanism drives the clamp to linearly move in the horizontal direction.

By last, clamp, first moving mechanism, second moving mechanism, third moving mechanism and rotary mechanism adopt the mode of stacking from top to bottom to install, can simplify the mounting structure of manipulator to can conveniently assemble and dismantle the manipulator.

As a possible implementation manner of the first aspect, the clamp includes: the first clamping arm and the second clamping arm extend along a second direction, and the second direction is the moving direction of the clamp driven by the first moving mechanism.

By the above, through making first arm lock and second arm lock extend along the second direction to can be when clamp orientation business turn over material room, heating chamber and forging room, can drive first arm lock, second arm lock stretch into corresponding business turn over material room, heating chamber and forging room through first moving mechanism and shift the material.

As a possible implementation manner of the first aspect, the clamp further includes: the extending direction of the lead screw is perpendicular to the second direction, the lead screw and the first clamping arm and the second clamping arm respectively form a ball screw structure, and the lead screw is used for driving the first clamping arm and the second clamping arm to move towards opposite directions in a rotating mode.

By forming the ball screw structure by the first clamp arm and the second clamp arm and the screw, the first clamp arm and the second clamp arm can be driven to move simultaneously by the screw. The first clamping arm and the second clamping arm are moved towards opposite directions, so that the clamping and loosening of materials are realized.

As a possible implementation manner of the first aspect, a first jaw is disposed on a surface of the first clamping arm facing the second clamping arm; the second clamping arm faces to one side surface of the first clamping arm, and a second jaw is arranged at a position corresponding to the first jaw; the first jaw and the second jaw are in a notch shape.

By last, through setting up breach form first jaw and second jaw, can carry out the in-process of gripping to the material at first arm lock, second arm lock, with the material centre gripping in first jaw and second jaw. Therefore, the contact area of the first clamping arm, the second clamping arm and the material can be increased, the firmness of clamping the material is improved, and the possibility of falling of the material is reduced.

As a possible implementation manner of the first aspect, the shape of the first jaw and the second jaw is adapted to the shape of the material.

By the above, through making the shape looks adaptation of first jaw, second jaw to can improve the area of contact between first jaw, second jaw and the material, thereby improve the frictional force when first jaw, second jaw centre gripping material, with stability, the fastness of improvement centre gripping.

As a possible implementation manner of the first aspect, the first jaw and the second jaw are V-shaped notches.

By the above, through setting the first jaw, second jaw into V type breach to can realize the centering to the material in the in-process of carrying out the centre gripping to the material. Thereby, the accuracy in transferring the material can be improved.

As a possible implementation manner of the first aspect, the first moving mechanism further includes: the cover plate is used for protecting internal parts, a moving opening is formed in the top of the cover plate, the clamp seat of the clamp extends from the moving opening to the cover plate in the moving direction driven by the first moving mechanism, and the clamp seat is driven by the first moving mechanism to move.

By the upper part, through setting up the cover plate to can make first arm lock, second arm lock centre gripping material stretch into heating chamber, forge when the room heats and forges the material, perhaps when first arm lock, second arm lock centre gripping high temperature material remove, can provide the protection to first moving mechanism through the cover plate, reduce the influence of heat radiation to the part in the first moving mechanism. Therefore, the service life of the manipulator can be prolonged, and the possibility of faults is reduced.

A second aspect of the present application provides a vacuum isothermal forging apparatus comprising a transfer chamber, a feed and discharge chamber, a heating chamber, a forging chamber, and a manipulator, wherein the manipulator is a manipulator according to any one of the first aspects of the present application.

By the above, can drive the clamp through third moving mechanism, first moving mechanism and second moving mechanism respectively and carry out the removal of first direction, second direction and third direction, drive the clamp through rotary mechanism and rotate to make the clamp change the orientation, so that the clamp is towards advancing discharge chamber, heating chamber, forging room and carry out the transfer of material. Therefore, the clamp can be moved more simply and directly, and the positioning precision during material transfer can be improved. In addition, the movable range of the clamp can be reduced, so that the material moving space of the adaptive manipulator is reduced. Therefore, the difficulty of maintaining the preset vacuum degree of the material moving chamber and the forging chamber can be reduced.

These and other aspects of the invention will be apparent from and elucidated with reference to the embodiment(s) described hereinafter.

Drawings

The various features of the invention and the connections between the various features are further described below with reference to the figures. The figures are exemplary, some features are not shown in actual scale, and some features that are conventional in the art to which this application pertains and are not essential to the application may be omitted from some figures, or features that are not essential to the application may be additionally shown, and combinations of the various features shown in the figures are not meant to limit the application. In addition, throughout the specification, the same reference numerals refer to the same. The specific drawings are as follows:

FIG. 1 is a schematic top orthographic view of a manipulator 10 of the present application;

FIG. 2 is a schematic view of a left side orthographic view of the manipulator 10 of FIG. 1;

FIG. 3 is a schematic view of the manipulator 10 of FIG. 2 in partial cross-section;

FIG. 4 is a schematic front-side orthographic view of the manipulator 10 of FIG. 1;

FIG. 5 is a schematic flow chart of the vacuum isothermal forging apparatus 1 forging a material;

fig. 6 is a second schematic diagram of a process of forging a material by the vacuum isothermal forging apparatus 1 according to the present application.

Description of the reference numerals

1. Vacuum isothermal forging equipment; 10. a manipulator; 20. a material transferring chamber; 30. a feeding and discharging chamber; 40. a heating chamber; 50. a forging chamber; 100. a base; 200. a first moving mechanism; 210. a first body portion; 220. a first guide rail; 230. a ball screw; 240. a first slider; 250. a first motor; 260. a cover plate; 261. a moving port; 300. a second moving mechanism; 310. a screw elevator; 320. a second motor; 330. a second body portion; 400. a third movement mechanism; 410. a third guide rail; 420. a rack; 430. a third body portion; 431. a third slider; 440. a third motor; 500. a rotation mechanism; 510. a precision rotary table; 520. a rotary drive motor; 600. a clamp; 610. a clamp seat; 620. a second guide rail; 630. a ball screw; 640. a first clamp arm; 641. a first jaw; 650. a second clamp arm; 651. a second jaw; 660. and a second slider.

Description of the embodiments

The terms first, second, third and the like in the description and in the claims, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order, and it is to be understood that the specific order or sequence may be interchanged if permitted to implement the embodiments of the present application described herein in other than those illustrated or described herein.

The term "comprising" as used in the description and claims should not be interpreted as being limited to what is listed thereafter; it does not exclude other elements. Thus, it should be construed as specifying the presence of the stated features, integers or components as referred to, but does not preclude the presence or addition of one or more other features, integers, steps or components, or groups thereof. Thus, the expression "a device comprising means a and B" should not be limited to a device consisting of only components a and B.

Reference in the specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment, but may. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments as would be apparent to one of ordinary skill in the art from this disclosure.

Hereinafter, the specific structures of the vacuum isothermal forging material transfer robot 10 (simply referred to as a robot) and the vacuum isothermal forging apparatus 1 in the embodiments of the present application will be described in detail with reference to the accompanying drawings.

As shown in fig. 1 to 6, the vacuum isothermal forging apparatus 1 in the embodiment of the present application includes a robot 10, and a transfer chamber 20, a feed and discharge chamber 30, a heating chamber 40, and a forging chamber 50. Wherein, the manipulator 10 is located in the material transferring chamber 20, the material transferring chamber 20 is communicated with the material feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50, the material feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50 are distributed around the material transferring chamber 20, and the manipulator 10 transfers materials among the material feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50. After the material transferring chamber 20 and the forging chamber 50 are closed, air in the material transferring chamber 20 and the forging chamber 50 can be pumped out by a vacuum pump and other devices, and a preset vacuum degree is maintained, so that high-temperature materials can be forged in a vacuum environment. The robot arm 10 includes: a base 100, the base 100 being disposed within the transfer chamber 20; a clamp 600, the clamp 600 being disposed on the base 100; a first moving mechanism 200, the first moving mechanism 200 being disposed on the base 100 for driving the clamp 600 to move linearly in a horizontal direction; a second moving mechanism 300, the second moving mechanism 300 being provided on the base 100 for driving the clamp 600 to move in the up-down direction; the rotation mechanism 500 is provided on the base 100, and is used for driving the clamp 600 to rotate around the vertical axis.

From above, the rotation mechanism 500 can drive the clamp 600 to rotate to change the orientation of the clamp 600, so that the clamp 600 can be oriented to the charging and discharging chamber 30, the heating chamber 40 or the forging chamber 50. The first moving mechanism 200 drives the clamp 600 to move linearly in the horizontal direction, and the clamp 600 can be extended into the chamber after facing the charging/discharging chamber 30, the heating chamber 40 or the forging chamber 50, so as to clamp and take the material. The second movement mechanism 300 may drive the clamp 600 up and down to clamp or lower the material. Thus, the movement of the clamp 600 can be made simpler and more direct, and the positioning accuracy at the time of material transfer can be improved. In addition, the movable range of the clamp 600 can be reduced, so that the material moving space of the adapting manipulator 10 can be reduced. Thereby reducing the difficulty of maintaining the predetermined vacuum in the transfer chamber 20 and the forging chamber 50.

In some embodiments, as shown in fig. 1-4, the robot 10 further includes: a third moving mechanism 400, the third moving mechanism 400 being disposed on the base 100 for driving the clamp 600 to move along the first direction; wherein, the material moving chamber 20 and two of the material feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50 are arranged along the first direction. Therefore, by arranging the third moving mechanism 400 to drive the clamp 600 to move along the first direction, the moving range of the clamp 600 can be increased, so that the layout space of the feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50 can be increased, and the layout of the feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50 is facilitated.

In some embodiments, as shown in fig. 2 to 4, the third moving mechanism 400 is disposed at an upper portion of the base 100, the second moving mechanism 300 is disposed at an upper portion of the third moving mechanism 400, and the third moving mechanism 400 drives the second moving mechanism 300 to move in the first direction; the rotation mechanism 500 is provided on the second moving mechanism 300, and the second moving mechanism 300 drives the rotation mechanism 500 to move in the up-down direction; the first moving mechanism 200 is arranged on the rotating mechanism 500, and the rotating mechanism 500 drives the first moving mechanism 200 to rotate by taking the up-down direction as the axis; the clamp 600 is provided on the first moving mechanism 200, and the first moving mechanism 200 drives the clamp 600 to move linearly in the horizontal direction. Thus, the clamp 600, the first moving mechanism 200, the second moving mechanism 300, the third moving mechanism 400, and the rotating mechanism 500 are mounted in a vertically stacked manner, and the mounting structure of the robot 10 can be simplified, so that the robot 10 can be easily assembled and disassembled.

In some embodiments, as shown in fig. 1-3, the clamp 600 includes: the first clamping arm 640 and the second clamping arm 650 extend along a second direction, and the second direction is a moving direction in which the first moving mechanism 200 drives the clamp 600. By extending the first clamp arm 640 and the second clamp arm 650 in the second direction, the first clamp arm 640 and the second clamp arm 650 can be driven by the first moving mechanism 200 to extend into the corresponding feed/discharge chamber 30, heating chamber 40 and forging chamber 50 when the clamp 600 faces the feed/discharge chamber 30, heating chamber 40 and forging chamber 50, and thus, the material can be transferred.

In some embodiments, as shown in fig. 1, the clamp 600 further comprises: the extending direction of the screw is perpendicular to the second direction, the screw and the first clamping arm 640 and the second clamping arm 650 respectively form a ball screw 230 structure, and the screw rotates to drive the first clamping arm 640 and the second clamping arm 650 to move towards opposite directions. By forming the first clamp arm 640 and the second clamp arm 650 into ball screw structures with the screw, the first clamp arm 640 and the second clamp arm 650 can be simultaneously driven to move by the screw. Clamping and unclamping of the material is achieved by moving the first clamp arm 640 and the second clamp arm 650 in opposite directions.

In some embodiments, as shown in fig. 1, a first jaw 641 is disposed on a surface of the first clamping arm 640 on a side facing the second clamping arm 650; the second clamp arm 650 is provided with a second jaw 651 at a position corresponding to the first jaw 641 on a side surface facing the first clamp arm 640; the first jaw 641 and the second jaw 651 are notched. By providing the first jaw 641 and the second jaw 651 having the notch shape, the material can be clamped in the first jaw 641 and the second jaw 651 during the process of clamping the material by the first clamp arm 640 and the second clamp arm 650. Therefore, the contact area between the first clamping arm 640 and the second clamping arm 650 and the material can be increased, the firmness of clamping the material is improved, and the possibility of dropping the material is reduced.

In some embodiments, the shape of first jaw 641, second jaw 651 is adapted to the shape of the material. Therefore, by adapting the shapes of the first jaw 641 and the second jaw 651 to the shape of the material, the contact area between the first jaw 641, the second jaw 651 and the material can be increased, and the friction force when the first jaw 641 and the second jaw 651 clamp the material can be increased, so that the clamping stability and the clamping firmness can be improved.

In some embodiments, the first jaw 641, the second jaw 651 are V-notches. Thus, by providing the first jaw 641 and the second jaw 651 as V-notches, centering of the material can be achieved during gripping of the material. Thereby, the accuracy in transferring the material can be improved.

In some embodiments, the first moving mechanism 200 further includes a cover plate 260, the cover plate 260 is used for protecting internal parts, a moving opening 261 is formed at the top of the cover plate 260, the moving opening 261 extends along the moving direction of the clamp 600 driven by the first moving mechanism 200, the clamp seat 610 of the clamp 600 extends into the cover plate 260 from the moving opening 261, and the clamp seat 610 is driven by the first moving mechanism 200 to move. Thus, by providing the cover plate, the first clamping arm 640 and the second clamping arm 650 can be made to clamp the material and extend into the heating chamber 40 and the forging chamber 50 to heat and forge the material, or when the first clamping arm 640 and the second clamping arm 650 clamp the high-temperature material to move, the cover plate 260 can be used for protecting the components in the first moving mechanism 200, and the influence of heat radiation on the first moving mechanism 200 can be reduced. Thus, the service life of the manipulator 10 can be prolonged, and the possibility of occurrence of faults can be reduced.

In some embodiments, the third movement mechanism 400, the first movement mechanism 200, the second movement mechanism 300, and/or the rotation mechanism 500 are driven by a motor using a vacuum environment servo motor so that the motor can normally dissipate heat in a vacuum environment, thereby improving the stability of the apparatus.

In some embodiments, grease is applied between each moving part in the third moving mechanism 400, the first moving mechanism 200, the second moving mechanism 300, and/or the rotating mechanism 500, and the grease is grease suitable for a vacuum environment, so as to reduce volatilization of the grease in the vacuum environment and avoid failure of the grease due to volatilization.

Next, a detailed description will be made of a specific structure of the vacuum isothermal forging apparatus 1 of the present application in one specific embodiment.

FIG. 1 is a schematic top orthographic view of a manipulator 10 of the present application; FIG. 2 is a schematic view of a left side orthographic view of the manipulator 10 of FIG. 1; FIG. 3 is a schematic view of the manipulator 10 of FIG. 2 in partial cross-section; FIG. 4 is a schematic front-side orthographic view of the manipulator 10 of FIG. 1; fig. 5 is a schematic flow chart of forging the material by the vacuum isothermal forging apparatus 1 in the present application, in fig. 5, (a) shows that the manipulator 10 clamps the material from the feeding and discharging chamber 30, (b) shows that the manipulator 10 puts the material into the heating chamber 40 for heating, (c) shows that the manipulator 10 takes the heated material out of the heating chamber 40 and ready for feeding into the forging chamber 50, (d) shows that the manipulator 10 puts the material in a pre-forging station of the forging chamber 50; fig. 6 is a second schematic diagram of a flow of forging the material by the vacuum isothermal forging apparatus 1 in the present application, in which (a) in fig. 6 shows that the manipulator 10 withdraws from the forging chamber 50, the forging apparatus 1 in the forging chamber 50 forges the material, (b) shows that the manipulator 10 transfers the material from the pre-forging station in the forging chamber 50 to the final forging station, ready for final forging, and (c) shows that the manipulator 10 takes out the forged material from the forging chamber 50, and (d) shows that the manipulator 10 places the forged material in the feeding and discharging chamber 30.

As shown in fig. 1 to 6, the vacuum isothermal forging apparatus 1 in the present embodiment includes a robot 10, a transfer chamber 20, a feed and discharge chamber 30, a heating chamber 40, and a forging chamber 50, the robot 10 is located in the transfer chamber 20, the feed and discharge chamber 30 is located on the right side of the transfer chamber 20, the heating chamber 40 is located on the left side of the transfer chamber 20, and the forging chamber 50 is located on the front side of the transfer chamber 20. The material feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50 are communicated with the material transferring chamber 20, the manipulator 10 is arranged in the material transferring chamber 20, and materials are transferred among the material feeding and discharging chamber 30, the heating chamber 40 and the forging chamber 50.

As shown in fig. 1 to 4, the manipulator 10 in the present embodiment includes a base 100, a first moving mechanism 200, a second moving mechanism 300, a third moving mechanism 400, a rotating mechanism 500, and a clamp 600. The base 100 is positioned at the bottommost part of the manipulator 10, the third movement mechanism 400 is on the base 100, the second movement mechanism 300 is above the third movement mechanism 400, the rotation mechanism 500 is above the second movement mechanism 300, the first movement mechanism 200 is above the rotation mechanism 500, and the clamp 600 is above the first movement mechanism 200. The manipulator 10 has a structure of a coordinate type manipulator, and the third moving mechanism 400 drives the first moving mechanism 200, the second moving mechanism 300, the rotating mechanism 500, and the clamp 600 located above the manipulator to move in the left-right direction, the second moving mechanism 300 drives the first moving mechanism 200, the rotating mechanism 500, and the clamp 600 located above the manipulator to move in the up-down direction, the rotating mechanism 500 drives the first moving mechanism 200 and the clamp 600 located above the manipulator to rotate around the vertical axis, and thus the orientation of the clamp 600 can be adjusted, and the first moving mechanism 200 drives the clamp 600 located above the clamp to move in the orientation. Therefore, the structure and the action of the manipulator 10 can be simplified, and the moving space of the manipulator 10 can be reduced, so that the space of the material moving chamber 20 is reduced, the vacuumizing efficiency is increased, and the difficulty in maintaining vacuum is reduced.

As shown in fig. 1 to 3, the third moving mechanism 400 includes 2 third guide rails 410 fixed to the base 100 to extend in parallel in the left-right direction, and racks 420 provided between the 2 third guide rails 410 to be parallel to the third guide rails 410. The third moving mechanism 400 further includes a third body 430, the third body 430 has a rectangular parallelepiped shape, and 4 third sliders 431 are mounted at four corners of the bottom of the third body 430, and the third sliders 431 are slidably connected to the third guide rail 410 at corresponding positions. The third moving mechanism 400 further includes a third motor 440, a speed reducer, and a gear disposed on the third body 430, the third motor 440 is in driving connection with the speed reducer, the speed reducer is in driving connection with the gear, and the gear is engaged with the rack 420. The third motor 440 rotates, and the speed reducer can reduce the rotation speed of the driving gear, and the third motor 440 drives the gear to rotate, so as to drive the third main body 430 to move left and right along the third guide rail 410.

As shown in fig. 3 and 4, the second moving mechanism 300 is provided on the third moving mechanism 400, specifically, on the third main body 430. The second moving mechanism 300 includes 2 screw lifters 310, 1 lift driving decelerator, a second motor 320, and a second body 330 installed at the inner bottom surface of the third body 430. The lift drive decelerator is connected with the second motor 320, the lift drive decelerator is connected with the screw elevators 310 through 1 pair of coupling shafts and 1 pair of couplings and power transmission, a nut is provided on a screw shaft of each screw elevator 310, the screw shaft end is restrained by a bearing, and the nut is fixed on the second body portion 330. The second motor 320 and the elevation driving decelerator rotate the screw shaft of the screw elevator 310 to move the nut up and down, thereby causing the third body part 430 to move up and down.

As shown in fig. 3 and 4, the rotation mechanism 500 is located above the second moving mechanism 300, and specifically is disposed at the upper end of the second body 330. The rotation mechanism 500 includes a precision turret 510 having a worm gear structure, which is fixed at an upper end position of the second body part 330, and an input end of the precision turret 510 is connected to a rotation driving speed reducer and a rotation driving motor 520, and the rotation driving motor 520 and the rotation driving speed reducer drive the precision turret 510 to rotate, thereby rotating the first movement mechanism 200 fixed on a top surface of the precision turret 510.

As shown in fig. 1 to 4, the first moving mechanism 200 is disposed above the rotating mechanism 500, the first moving mechanism 200 includes a first main body 210, 2 parallel first guide rails 220 extending along a straight line are fixed on the first main body 210, 1 ball screw 230 is additionally fixed, one end of the ball screw 230 is fixed on the first main body 210, the other end is fixed in a gear box, a telescopic nut is mounted on the ball screw 230, the telescopic nut is fixed at the bottom of the clamp 600, 4 first sliding blocks 240 are additionally fixed at the bottom of the clamp 600, and the first sliding blocks 240 are matched with the 2 first guide rails 220 and slide along the first guide rails 220. The input end of the gear box is connected with the first motor 250, and the first motor 250 drives the ball screw 230 to rotate through the U-shaped connection of the gear box and the gear ratio of 1:1, so that the telescopic nut moves linearly, and the clamp 600 is driven to move telescopically along the first guide rail 220.

As shown in fig. 3, the first moving mechanism 200 further includes a cover plate 260, and a shell-like member having a rectangular parallelepiped shape of the cover plate 260 is covered on the upper surface of the first body 210, so that other members of the first moving mechanism 200, such as the first guide rail 220, the ball screw 230, the first slider 240, the first motor 250, and the like are protected therein. The top of the cover plate 260 is provided with a moving opening 261, the moving opening 261 extending in the extending direction of the first rail 220, and the upper end of the first slider 240 is protruded from the moving opening 261 so that a clamp seat 610 of the clamp 600, which will be described below, is installed and fixed.

As shown in fig. 1-4, the clamp 600 is disposed above the first moving mechanism 200, specifically, the clamp seat 610 of the clamp 600 is fixedly connected with the moving nuts of the first moving mechanism 200, 2 parallel second guide rails 620 are fixed on the clamp seat 610, 1 ball screw 630 is fixed in the middle of the 2 second guide rails 620, one end of the ball screw 630 is fixed on the clamp seat 610, the other end of the ball screw 630 is fixed in the gear box, half of the ball screw 630 is forward threaded, the other half of the ball screw is reverse threaded, each half is provided with 1 opening and closing moving nut, 2 opening and closing moving nuts are respectively fixed at the bottoms of the first clamping arm 640 and the second clamping arm 650, a total of 4 second sliding blocks 660 are fixed at the bottoms of the first clamping arm 640 and the second clamping arm 650, and the second sliding blocks 660 are matched with the 2 second guide rails 620 and can slide along the second guide rails 620. The input end of the gear box is connected with the opening and closing driving speed reducer and the opening and closing driving motor. The open-close driving speed reducer and the open-close driving motor are driven by the U-shaped connection of the gear box and the gear ratio of 1:1, and drive the ball screw 230 to rotate, so that the 2 open-close movement nuts move linearly relatively, the first clamping arm 640 and the second clamping arm 650 move relatively open-close along the second guide rail 620, and the 2 jaws clamp or loosen relatively to the blank or the forge piece. The jaw adopts a V-shaped notch, has self-centering function, and ensures accurate positioning of the blank.

Note that the above is only the preferred embodiments of the present application and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the present application has been described in connection with the above embodiments, the present invention is not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the present invention, and the present invention is also within the scope of protection.

Claims (10)

1. The utility model provides a vacuum isothermal forging material shifts manipulator, its characterized in that is located and moves the material room, move material room and business turn over material room, heating chamber, forge the room intercommunication, the business turn over material room heating chamber with forge the room and lay around move the material room, move the material room with forge the room and be the vacuum, the manipulator advance the material room heating chamber with it shifts the material to forge between the room, the manipulator includes:

the base is arranged in the material moving chamber;

the clamp is arranged on the base;

the first moving mechanism is arranged on the base and used for driving the clamp to linearly move in the horizontal direction;

the second moving mechanism is arranged on the base and used for driving the clamp to move in the up-down direction;

and the rotating mechanism is arranged on the base and used for driving the clamp to rotate by taking the up-down direction as the axis.

2. The vacuum isothermal forging material transfer robot of claim 1, further comprising:

the third moving mechanism is arranged on the base and used for driving the clamp to move along the first direction;

wherein, move the material room with two in the business turn over material room, heating chamber, the forging room are laid along the first direction.

3. The vacuum isothermal forging material transfer robot according to claim 2, wherein the third movement mechanism is disposed at an upper portion of the base, the second movement mechanism is disposed at an upper portion of the third movement mechanism, and the third movement mechanism drives the second movement mechanism to move in the first direction; the rotating mechanism is arranged on the second moving mechanism, and the second moving mechanism drives the rotating mechanism to move along the up-down direction; the first moving mechanism is arranged on the rotating mechanism, and the rotating mechanism drives the first moving mechanism to rotate by taking the up-down direction as the axis; the clamp is arranged on the first moving mechanism, and the first moving mechanism drives the clamp to linearly move in the horizontal direction.

4. The vacuum isothermal forging material transfer robot of claim 3, wherein the clamp comprises: the first clamping arm and the second clamping arm extend along a second direction, and the second direction is the moving direction of the clamp driven by the first moving mechanism.

5. The vacuum isothermal forging material transfer robot of claim 4, wherein the clamp further comprises:

the extending direction of the lead screw is perpendicular to the second direction, the lead screw and the first clamping arm and the second clamping arm respectively form a ball screw structure, and the lead screw is used for driving the first clamping arm and the second clamping arm to move towards opposite directions in a rotating mode.

6. The vacuum isothermal forging material transfer robot according to claim 5, wherein a first jaw is provided on a side surface of the first clamp arm facing the second clamp arm; the second clamping arm faces to one side surface of the first clamping arm, and a second jaw is arranged at a position corresponding to the first jaw; the first jaw and the second jaw are in a notch shape.

7. The vacuum isothermal forging material transfer robot according to claim 6, wherein the shape of the first jaw, the second jaw is adapted to the shape of the material.

8. The vacuum isothermal forging material transfer robot of claim 6, wherein the first jaw and the second jaw are V-notches.

9. The vacuum isothermal forging material transfer robot according to any one of claims 3-8, wherein the first movement mechanism further comprises:

the cover plate is used for protecting internal parts, a moving opening is formed in the top of the cover plate, the clamp seat of the clamp extends from the moving opening to the cover plate in the moving direction driven by the first moving mechanism, and the clamp seat is driven by the first moving mechanism to move.

10. A vacuum isothermal forging apparatus comprising a transfer chamber, a feed and discharge chamber, a heating chamber, a forging chamber, and a manipulator, wherein the manipulator is the manipulator of any one of claims 1-9.

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