CN117841011A - Online real-time detection robot for hot forging products - Google Patents

Abstract

The invention relates to the technical field of hot forging detection, in particular to a hot forging product online real-time detection robot, which comprises a base, a mechanical arm, a buffer mechanism, a drag reduction mechanism and a detection mechanism, wherein the base is provided with a damping mechanism; the base is of a cylindrical structure, and the upper surface of the base is fixedly connected with a buffer mechanism; the mechanical arm is formed by hinging a plurality of cantilevers, and one end of the mechanical arm is fixedly connected with a drag reduction mechanism; the tail end of the mechanical arm is rotatably connected with a detection mechanism; the detection mechanism and the mechanical arm are electrically connected with the control mechanism; the invention realizes the extension and retraction of the detection mechanism in the detection process by designing the movable mechanical arm, thereby reducing the influence of heat radiation on equipment; in addition, a buffer mechanism and a drag reduction mechanism are designed, so that the shock absorption in the vertical direction and the horizontal direction is integrally realized; and through the multidirectional activity design of detection mechanism, slowed down the rocking of arm for detection area is stable, thereby realizes detecting data accuracy.

Description

Online real-time detection robot for hot forging products

Technical Field

The invention relates to the technical field of hot forging detection, in particular to an online real-time detection robot for hot forging products.

Background

Hot forging is a metal working technique that produces a metal part having a specific shape and properties by heating a metal material to a high temperature state and then plastically deforming in the hot state.

In the hot forging process, as the product quality needs to be ensured, the smooth operation of the processing process is ensured, the probability of accident occurrence is reduced as much as possible, and a plurality of data parameters such as the temperature, forging force, the current temperature of equipment and the like in the heating process need to be detected in real time; the aim of the real-time monitoring of the data is to find and correct possible problems in time and ensure that the product meets the design requirements; meanwhile, through real-time monitoring data, operators can know the change condition in the processing process and timely adjust the process parameters so as to ensure the optimal processing effect and product quality, and the real-time monitoring can help to predict potential problems, take measures in advance to intervene, avoid accidents and ensure working safety.

However, for a robot with real-time monitoring of thermal forging, as an electronic regulation and control mechanical device, due to the high-temperature environment of forging, high requirements are put on the stability and tolerance of a sensor or monitoring device for detecting the robot, and most of sensors cannot normally operate under the condition of continuous high temperature due to high-temperature radiation; on the one hand, the hot forging is plastic deformation carried out at a high temperature and tends to be accompanied by larger impact force, on the other hand, the product in the hot forging process has the characteristic of rapid change and can carry out multiple plastic deformations in a short time, so that the detection robot is generally required for precision, and the robot is often arranged around forging equipment; the real-time monitoring of different forgings can not be met when the plastic deformation device is arranged around, errors are easy to detect due to plastic deformation, and impact force in the plastic process can cause great precision influence on the detection robot.

In order to solve the problems, the stability of the robot in the working process is ensured to meet wider application requirements, and then the invention provides an online real-time detection robot for hot forging products, so as to solve the problems.

Disclosure of Invention

The invention aims to solve the technical problems that: because the high temperature environment of hot forging, the inside sensor equipment of detection robot takes place to damage easily, is difficult to support long-time detection work, and because the impact force of high temperature plasticity, detection robot is unstable because the vibration of equipment leads to detection area, and detection equipment is unstable to lead to detection data to exist the deviation.

In order to solve the technical problems, the invention adopts the following technical scheme: the on-line real-time detection robot for the hot forging products comprises a base, a mechanical arm, a buffer mechanism, a drag reduction mechanism and a detection mechanism, wherein the base is of a cylindrical structure, the buffer mechanism is fixedly connected to the upper surface of the base and is used for vibration buffering of the mechanical arm in the vertical direction through small change of gas pressure and counter-acting force, so that vibration reduction is achieved; the mechanical arm is formed by hinging a plurality of cantilevers, one end of the mechanical arm is fixedly connected with a drag reduction mechanism, and the drag reduction mechanism is used for reducing aftershock of the mechanical arm through irregular small-sized vibration, and the irregular small-sized vibration can realize repeated buffering similar to Brownian motion and buffering of vibration in all directions; the tail end of the mechanical arm is rotationally connected with the detection mechanism, the detection mechanism realizes data monitoring of the hot forging through multistage buffering, and a plurality of buffer devices are arranged in the detection mechanism and respectively perform coarse buffering and fine buffering, so that stable detection of the detection mechanism is integrally realized; the detection mechanism with the arm with the control mechanism electricity is connected to realize the accurate regulation and control to equipment, such design structure makes detection robot can be in hot forging in-process steady operation, through buffer mechanism with drag reduction mechanism's effect can effectively slow down vibration and aftershock, ensures detection mechanism can be accurate, stable monitoring hot forging's data.

The upper surface of the base is fixedly connected with a fixing table, the fixing table adopts a cylindrical structure, and the cylindrical structure is larger than the occupation area of the mechanical arm in the vertical direction, namely, the cylindrical fixing table can wrap the mechanical arm in the vertical direction; a movable cavity is arranged in the fixed table, and is in a funnel shape and used for realizing small shaking of the mechanical arm in the movable cavity due to gas; the movable cavity is internally provided with an upper backing ring and a lower backing ring, wherein the upper backing ring and the lower backing ring have the same axle center and the same inner diameter, and the ratio of the distance between the upper backing ring and the lower backing ring to the height of the fixed table is 1:2, this kind of design structure can provide stable support and locate function to make arm and other subassemblies can accurately and stably install on the fixed station, and keep relatively stable position, the funnel-shaped design in movable chamber helps reducing unnecessary vibration and stress concentration, provides better operational environment, the setting of upper backing ring and lower backing ring has further increased the stability of fixed station, has ensured reliability and the accuracy of robot in the hot forging process.

The mechanical arm is fixedly connected with the movable cavity, the mechanical arm is connected with the buffer mechanism through the movable cavity, the buffer mechanism comprises a movable plate, an annular air bag and a metal ball, the thickness of a gap between the upper backing ring and the lower backing ring is twice that of the movable plate, the movable plate is positioned between the upper backing ring and the lower backing ring, the annular air bag is fixedly connected with the annular air bag on the upper surface and the lower surface of the movable plate, the annular air bag is annular and is arranged to be anastomotic with the upper backing ring and the lower backing ring, the inner diameter achieved is identical to the size of the upper backing ring, a backflushing area is arranged between the lower backing ring and the bottom surface of the movable cavity, a plurality of metal balls are placed in the backflushing area, and the metal ball can freely bounce and move in the backflushing area.

The movable plate forms an adjustable buffer space between the upper backing ring and the lower backing ring, when the mechanical arm is impacted by vibration in the vertical direction, the movable plate is stressed, the annular air bag is compressed, the influence of the vibration can be buffered and relieved through the internal air pressure due to the elastic characteristic of the annular air bag, meanwhile, the stability of the buffer mechanism is improved by the metal ball in the recoil area, and the metal ball can freely bounce in the vibration process to absorb and disperse energy, so that the multidirectional impact on the mechanical arm is further reduced; such a damping mechanism design provides reliable vibration damping capability, enables stable operation of the robotic arm during hot forging, and reduces impact and damage to other components.

For the vibration in the vertical direction generated in the hot forging process, due to the rapid high-strength stamping of the plastic equipment, the vibration in the vertical direction can be generated in the whole equipment, the annular air bag is used as coarse buffer, a large amount of force can be buffered under the condition of large impact force, then for smaller and fine vibration, the metal ball can bounce at the moment, when the detection robot ascends under the action of force, the metal ball can bounce, on one hand, the gravity slows down the elasticity of the equipment, and on the other hand, when the equipment descends, the metal ball loses the upward acting force, the metal ball can rapidly descend under the action of gravity, at the moment, the equipment can vibrate under the action of residual force, and the metal ball can bounce repeatedly in the recoil area due to the elasticity of the metal ball, so that the residual force is counteracted by the metal ball; the jump of the metal ball is stopped until the equipment stops vibrating, and after the equipment stops, the spring of the metal ball is buffered by the annular air bag because of the thick buffering of the annular air bag, at the moment, the vibration of the metal ball is buffered by the annular air bag, so the metal ball cannot influence the vibration of the equipment, and the metal ball can buffer the vibration of the equipment in a plastic environment.

The mechanical arm comprises a horizontal rotating arm, a bearing arm and a damping arm; the bottom end of the horizontal rotating arm is fixedly connected with the movable plate, the other end of the horizontal rotating arm is hinged with the bearing arm, the other end of the bearing arm is hinged with the damping arm, and the other end of the damping arm is rotatably connected with the detection mechanism; the damping arm with articulated department fixedly connected with of accepting the arm drag reduction mechanism, drag reduction mechanism adopts the structure of rectangle cavity to be provided with the free chamber in inside, the free chamber is rectangular form cavity, and a plurality of free chamber parallel arrangement is in the drag reduction mechanism, the metal ball has been placed in the free chamber, the metal ball can be in the free intracavity slides, the internal diameter in free chamber with the diameter of metal ball is the same.

Since the mechanical arm is formed by hinging a plurality of cantilevers, the buffer mechanism is mainly aimed at vibration from the horizontal rotating arm position, and the buffer effect of the buffer mechanism is gradually reduced along with the increase of the hinging number of the cantilevers, namely the receiving arm and the damping arm, so that the damping mechanism is introduced at the hinging position between the damping arm and the receiving arm, the free cavity and the metal ball in the damping mechanism form an automatically adjustable damping structure, when the mechanical arm is subjected to vibration impact, the vibration in the horizontal rotating arm direction is greatly consumed by the buffer mechanism, but at other cantilever positions, such as the vibration at the damping arm is transmitted to the detection mechanism through the hinging position, thereby influencing the detection precision, and the damping mechanism is introduced; the metal balls of the free cavity can slide and shift positions in the drag reduction mechanism so as to absorb and disperse vibration energy, and the design of the drag reduction mechanism effectively reduces the impact and vibration suffered by the mechanical arm.

Because the requirement of the detection process is met, the vertical force borne by the horizontal rotating arm is reduced by the buffer mechanism, but the residual force which is not reduced still exists in the horizontal acting force, the damping mechanism is arranged, the metal ball repeatedly slides in the free cavity when the damping arm shakes, and the free cavity is strip-shaped, so that the metal ball bounces left and right in the free cavity, thereby realizing the principle similar to that of the buffer mechanism, but the free cavity is of the same diameter size as that of the metal ball, so that the metal ball can only be buffered unidirectionally, thereby reducing unnecessary vibration and pertinently damping a detection area; the whole through damping arm, accept arm and drag reduction mechanism's combined design, the arm can steady operation in hot forging process to reduce to detection mechanism's interference and damage, drag reduction mechanism's adjustment performance can optimize according to actual conditions, in order to realize best shock attenuation effect.

The detection mechanism consists of a shell, a chassis, a spring and a telescopic probe, wherein the chassis is fixedly connected with the damping arm, the shell is fixedly connected with the chassis, one end of the spring is fixedly connected with the chassis, the other end of the spring is fixedly connected with the telescopic probe, the top end of the telescopic probe is fixedly connected with the detector, the other end of the telescopic probe extends out of the cylindrical protrusion, and the inner diameter of the cylindrical protrusion is half of the inner diameter of the spring and extends into the chassis.

Through such design, detection mechanism's shell provides protection and supporting role, has guaranteed the safe operation of inner assembly, just the chassis with damping arm's fixed connection has guaranteed detection mechanism with the stable connection of arm, the effect of spring is to provide elastic support for flexible probe can freely stretch out and draw back and adapt to different detection demands, flexible probe is connected through fixed top the detector can realize the real-time supervision to hot forging.

The columnar bulge is designed to form a special structure at one end of the telescopic probe, stable telescopic movement is provided through the proportional relation between the inner diameter of the columnar bulge and the inner diameter of the spring, and the columnar bulge extends into the chassis, so that the stability and the accuracy of the telescopic probe are ensured; meanwhile, the ratio setting of the columnar bulge to the spring allows the columnar bulge to move in the shaking range of the spring, so that the spring can buffer the telescopic probe; the design of the detection mechanism provides reliable structural support and flexible telescopic function, so that data monitoring in the hot forging process can be accurately and stably carried out, and meanwhile, the reliability and stability of the detection mechanism in the working process are ensured by the protection effect of the shell and the fixed connection of the chassis.

The novel damping device is characterized in that an arc-shaped concave table is fixedly connected around the center of the chassis, a damping cavity is formed on the lower surface of the concave table, the damping cavity is of a hollow cylindrical structure and extends to the inside of the chassis, an annular partition extends from the edge of the damping cavity, 5-degree inclined radians are arranged at the upper edge and the lower edge of the annular partition, through the design, the arc-shaped concave table in the chassis provides a supporting structure, the damping cavity can be firmly arranged on the chassis, the hollow cylindrical structure of the damping cavity can effectively absorb and damp vibration, the stability of the damping cavity is further improved, displacement of the damping cavity in the motion process is prevented, and meanwhile, the 5-degree inclined radians at the upper edge and the lower edge of the annular partition are favorable for guiding vibration energy transmission smoothly, and a better damping effect is provided; such chassis design provides stable support and damping function, has ensured detection mechanism stability and accuracy in hot forging process, the hollow structure in damping chamber with the setting of annular cuts off makes the transmission and the dispersion of energy more even, provides reliable vibration and slows down the effect, the radian design of arc concave station and slope has further strengthened the structural stability and the damping performance of chassis.

The columnar bulge is in movable contact with the lower bottom surface of the cushioning cavity, and the ratio of the diameter of the columnar bulge to the inner diameter of the cushioning cavity is 4:5, the bellied mid portion of cylindricality is the shock strut, the shock strut diameter is the bellied diameter of cylindricality half, the shock strut highly be the annular cuts off the twice of height, the upper surface fixed connection of shock strut the spliced pole, the other end of spliced pole with flexible probe fixed connection.

The diameter of the shock absorption column is different from that of the connecting column, the diameter of the shock absorption column is larger than that of the connecting column, the connecting column is used for penetrating through the spherical hole pad and fixedly connected with the telescopic probe, and the diameter of the columnar bulge is smaller than that of the damping cavity, so that the columnar bulge is permitted to slightly shake under the condition of larger vibration, and active damping is performed.

The columnar bulge can be in movable contact with the lower bottom surface of the cushioning cavity, stable support is provided, the diameter ratio of the columnar bulge and the design of the shock absorption column further optimize the shock absorption effect, and the shock absorption column can reduce the influence of vibration transmitted to the telescopic probe, so that the detection mechanism is more stable and reliable in the hot forging process; the function of spliced pole is fixed flexible probe makes it can keep with the connection of detector, and such connected mode has guaranteed accurate transmission and the monitoring of data, through the combination of cylindricality arch, shock strut and spliced pole has realized detection mechanism's steady operation and accurate monitoring, consequently, the design of cylindricality arch, shock strut and spliced pole provides stability and reliability for real-time detection in the hot forging to guaranteed accurate transmission of data.

The upper surface of the annular partition is fixedly connected with a shockproof bowl, the shockproof bowl is attached to the arc-shaped concave table, the corners of the outer edge of the shockproof bowl are processed by adopting an arc of 5-10 degrees, so that the strength and shockproof performance of the structure are improved, meanwhile, the shockproof bowl can be actively attached to the arc-shaped concave table, a rectangular groove is formed in the edge of the shockproof bowl, which is close to the arc-shaped concave table, and a shockproof spring is placed in the rectangular groove, the shock-proof spring is of a strip-shaped structure, the distance between the strip-shaped structures formed by the shock-proof spring is smaller than the diameter of the cylindrical protrusions, and meanwhile, in order to meet the requirement that the shock-proof spring can buffer the cylindrical protrusions, the shock-proof spring is of a strip-shaped structure and two shock-proof springs are located on two sides of a central shaft of the cylindrical protrusions, so that the cylindrical protrusions are blocked on one hand, buffer is provided on the other hand, and spherical hole pads are placed at the lower ends of the shock-proof springs.

The laminating design of shockproof bowl makes it can with arc concave station forms inseparable connection, has strengthened the stability and the shock-absorbing capacity of structure, and the edge radian is handled and can be reduced stress concentration and wearing and tearing, realizes simultaneously when vibrating shockproof bowl with arc concave station bradyseism time improves shockproof bowl's durability, rectangular groove set up for shockproof spring provides the mounted position, and has ensured shockproof spring's stability, shockproof spring is as the strip structure, and the interval is less than cylindricality bellied diameter can provide bigger elasticity and shock attenuation effect.

The spherical hole pad is arranged at the lower end of the shockproof spring, and the design can further reduce vibration transmission and noise generation and provide a better shock absorption effect, and the spherical hole pad has better buffering and shock absorption performance, so that the whole mechanism is protected from the interference of external vibration; the spherical hole pad is arranged in the arc concave table, and the spherical hole pad is made of elastic materials, so that when the detection mechanism shakes, the spherical hole pad can be impacted with the arc concave table actively, and therefore movable shock absorption is achieved.

A circular through hole is formed in the central shaft of the spherical hole pad, the diameter of the circular through hole is the same as that of the connecting column, the connecting column penetrates through the circular through hole, and an embossing pattern is arranged at the inner edge of the circular through hole and used for increasing friction with the connecting column; the diameter of the spherical hole pad is the same as that of the cylindrical bulge, through the arrangement of the circular through hole, the connecting column can penetrate through the spherical hole pad and keep firm connection with the spherical hole pad, the design ensures that the connecting column is tightly matched with the spherical hole pad, extra support and stability are provided, the direct contact of the spherical hole pad and the connecting column is beneficial to reducing vibration transmission and ensuring the stability and accuracy of the detection mechanism, and therefore, the circular through hole at the central shaft of the spherical hole pad and the matched sizes of the connecting column and the cylindrical bulge are used for counteracting the vibration of the detection mechanism through a plurality of buffering, and finally the residual force is counteracted through the horizontal shaking of the spherical hole pad, so that the overall stability is realized.

The beneficial effects of the invention are as follows:

1. according to the invention, the extension and retraction of the detection mechanism in the detection process are realized by designing the movable mechanical arm, so that the influence of heat radiation on equipment is reduced; in addition, a buffer mechanism and a drag reduction mechanism are designed, so that coarse damping in the vertical direction and the horizontal direction is integrally realized; and through the multidirectional activity design of detection mechanism, slowed down the rocking that leads to because of forging equipment's die-casting and the removal of arm greatly for detection area is stable, thereby realizes detecting data accuracy, and can accomplish real-time detection through the arm.

2. According to the invention, through the arrangement of the drag reduction mechanism and the buffer mechanism, when the mechanical arm shakes, the mechanical arm can realize the buffer through the irregular flicking impact of the metal ball, and the mechanical arm is divided into unidirectional buffer and multidirectional buffer, so that unnecessary vibration is reduced, and the detection area is pertinently damped; so that the hot forging process can stably run to realize the optimal damping effect.

3. According to the invention, by designing a mechanical detection mechanism stabilization mode, the structure can adapt to work in a high-temperature environment, buffer failure caused by long-time high temperature is effectively prevented, coarse buffer and fine buffer are designed, larger-amplitude buffer caused by the outside is effectively reduced, and meanwhile, further shock absorption is carried out on shaking generated by the detection robot, so that active shock absorption is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will make brief description of the drawings used in the description of the embodiments or the prior art.

FIGS. 1 and 2 are overall views of the present invention;

FIG. 3 is a schematic view of the base, and FIG. 4 is a cross-sectional view of the base;

FIG. 5 is a schematic view of a shock arm, and FIG. 6 is a cross-sectional view of the shock arm;

FIG. 7 is a schematic view of a chassis;

FIGS. 8 and 9 are schematic diagrams of a dual angle detection mechanism;

FIGS. 10 and 11 are cross-sectional views of the detection mechanism;

FIG. 12 is an enlarged view of a portion of FIG. 11;

FIG. 13 is a schematic view of a vibration-resistant bowl of the present invention.

In the figure: 1. a base; 11. a fixed table; 111. a movable cavity; 112. an upper backing ring; 113. a lower backing ring; 2. a mechanical arm; 21. a horizontal swivel arm; 22. a receiving arm; 23; a shock absorbing arm; 3. a detection mechanism; 31. a housing; 32. a chassis; 33. a spring; 34. a telescoping probe; 341. a columnar protrusion; 342. a shock-absorbing column; 343. a connecting column; 35. a detector; 36. an arc concave table; 361. rectangular grooves; 362. a shock-proof spring; 363. a spherical hole pad; 364. a circular through hole; 37. a damping cavity; 38. an annular partition; 39. a shockproof bowl; 4. a buffer mechanism; 41. a movable plate; 42. an annular air bag; 43. a metal ball; 44. a backflushing zone; 5. a drag reduction mechanism; 51. a free cavity.

Detailed Description

The following describes the embodiments of the present invention further with reference to the drawings. The description of these embodiments is for aiding in understanding the present invention, and is not intended to limit the present invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.

Embodiment one:

as shown in fig. 1 and 2, the online real-time detection robot for hot forging products comprises a base 1, a mechanical arm 2, a buffer mechanism 4, a drag reduction mechanism 5 and a detection mechanism 3.

The base 1 adopts cylindrical structure, the upper surface fixedly connected with buffer gear 4 of base 1, buffer gear 4's effect is right through tiny gas pressure variation and the effort of opposite direction vibration buffering is carried out to arm 2 in vertical direction to realize the shock attenuation effect, arm 2 is articulated the constitution by a plurality of cantilevers, and wherein one end fixedly connected with drag reduction mechanism 5, drag reduction mechanism 5's design is slowed down through the small-size vibration of irregularity the aftershock of arm 2, and this small-size vibration of irregularity can be similar to the Brownian motion, provides a lot of buffering effect to alleviate the vibration in each direction, arm 2's end rotation is connected with detection mechanism 3, this detection mechanism 3 realizes the data monitoring to the thermal state forging through multistage buffering, detection mechanism 3 inside has set up a plurality of buffer devices respectively, carries out thick buffering and thin buffering in order to ensure the steady detection to the thermal state forging as a whole, detection mechanism 3 with arm 2 carries out the electricity with control mechanism and is connected, can realize the accurate detection mechanism 3 to the thermal state forging and can guarantee in the steady state detection mechanism's the steady state of the thermal state forging 3 through the design, can realize the accurate detection mechanism is realized in the thermal state detection mechanism 3 like this and can the steady state detection mechanism is passed through the vibration mechanism is stable in the temperature detection 4.

As shown in fig. 3 and 4, the upper surface of the base 1 is fixedly connected to a fixed table 11, and the fixed table 11 adopts a cylindrical structure, it is worth mentioning that the size of the cylindrical structure is larger than the floor area of the mechanical arm 2 in the vertical direction, which means that the fixed table 11 can completely wrap the mechanical arm 2 in the vertical direction, in the interior of the fixed table 11, one movable cavity 111 is provided, and the shape of the movable cavity 111 is funnel-shaped, which is mainly used for accommodating the micro-shaking generated by the gas of the mechanical arm 2 in the movable cavity 111, so that the movable cavity 111 is designed to extend to a half of the interior of the base 1 to provide a larger movement space, the edges of the movable cavity 111 are provided with the upper cushion ring 112 and the lower cushion ring 113, which have the same axis and the same inner diameter, and the ratio of the distance between the upper cushion ring 112 and the lower cushion ring 113 to the height of the fixed table 11 is 1:2.

such a design provides stable support and positioning functions, ensures that the robotic arm 2 and other components can be accurately and stably mounted on the stationary table 11, and maintains a relatively stable position; the funnel-shaped design of the movable cavity 111 helps to reduce unnecessary vibration and stress concentration, provides a better working environment for the robot, and meanwhile, the arrangement of the upper backing ring 112 and the lower backing ring 113 further increases the stability of the fixed table 11, ensures the reliability and accuracy of the robot in the hot forging process, and has a design structure capable of providing a stable foundation for the hot forging and providing good support and protection for the work.

The mechanical arm 2 is fixedly connected with the movable cavity 111, so that stability between the mechanical arm 2 and the movable cavity 111 can be ensured, and the mechanical arm 2 is connected with the buffer mechanism 4 through the movable cavity 111, so that a better vibration buffer effect is realized; the buffer mechanism 4 consists of a movable plate 41, an annular air bag 42 and a metal ball 43; the thickness of the gap between the upper backing ring 112 and the lower backing ring 113 is twice that of the movable plate 41, the movable plate 41 is positioned between the upper backing ring 112 and the lower backing ring 113, and the upper surface and the lower surface of the movable plate 41 are fixedly connected with the annular air bag 42, so that a better buffering effect can be provided; the annular air bag 42 is in annular design and is matched with the upper backing ring 112 and the lower backing ring 113.

The purpose of this design is to ensure that the inner diameter of the annular bladder 42 is the same size as the upper backing ring 112 to ensure tight connection and stability, and that a recoil zone 44 is provided between the lower backing ring 113 and the bottom surface of the movable chamber 111, in which zone a plurality of the metal balls 43 are placed, the metal balls 43 being free to spring and move within the recoil zone 44, thereby providing a better recoil effect; such design structure can effectively absorb and reduce the vibration of arm 2, protection equipment's stability, through fly leaf 41, annular gasbag 42 and metal ball 43's synergism, buffer gear 4 can provide reliable vibration buffering and recoil effect, guarantee the stability and the security of arm 2.

Between the upper backing ring 112 and the lower backing ring 113, the movable plate 41 forms an adjustable buffer space, so that the buffer effect can be adjusted according to the requirement, when the mechanical arm 2 is impacted by vibration in the vertical direction, the movable plate 41 can bear pressure, meanwhile, the annular air bag 42 can be compressed, the annular air bag 42 can buffer and alleviate the influence of vibration through the internal air pressure due to the elastic characteristic, the metal ball 43 in the recoil area 44 increases the stability of the buffer mechanism 4, and during the vibration process, the metal ball 43 can freely bounce, absorb and disperse energy, so that the multidirectional impact suffered by the mechanical arm 2 is further reduced, the buffer mechanism 4 designed in this way provides reliable vibration buffer capability, ensures the stable operation of the mechanical arm 2 in the hot forging process, reduces the impact and damage to other components, provides effective protection for the system, and improves the working efficiency and reliability.

In the hot forging process, because the quick high-strength stamping of plastic equipment, vertical vibration can take place for the whole equipment, in order to deal with this vibration, set up annular gasbag 42 and carry out coarse buffering, it can cushion a large amount of forces under the condition of great impact force, afterwards, for less and tiny vibration, metal ball 43 plays the effect, when detecting the robot and rise, metal ball 43 can take place to bounce, wherein on the one hand slows down the elasticity of equipment, on the other hand when equipment descends, metal ball 43 loses the effort that rises, descends fast, at this moment, the equipment can produce vibrations under the effect of surplus power, metal ball 43 is because self elasticity in recoil district 44 is repeatedly bounce to offset the surplus power, the bounce of metal ball 43 lasts to equipment stop vibrating, once equipment stops, annular gasbag 42 plays thin cushioning effect, the vibration of metal ball 43 is buffered by annular gasbag 42, consequently metal ball 43 can not produce the influence of vibration to the equipment, and this kind of design makes metal ball 43 can cushion the equipment in the environment, and effectively control the vibration in the annular environment, the multistage vibration of equipment is realized through the stable vibration of the multistage vibration, the multistage vibration of metal ball 43 is realized, the stable requirement is met.

As shown in fig. 5 and 6, the mechanical arm 2 includes a horizontal rotating arm 21, a receiving arm 22 and a damping arm 23, the bottom end of the horizontal rotating arm 21 is fixedly connected with the movable plate 41, the other end of the horizontal rotating arm is hinged with the receiving arm 22, the other end of the receiving arm 22 is hinged with the damping arm 23, the other end of the damping arm 23 is rotatably connected with the detecting mechanism 3, the damping mechanism 5 is fixedly connected with the hinge part of the damping arm 23 and the receiving arm 22, the damping mechanism 5 adopts a rectangular cavity structure and is internally provided with a free cavity 51, the free cavity 51 is in a strip shape, a plurality of free cavities 51 are arranged in parallel in the damping mechanism 5, a metal ball 43 is placed in the free cavity 51, the metal ball 43 can slide in the free cavity 51, and the inner diameter of the free cavity 51 is the same as the diameter of the metal ball 43.

The design enables the mechanical arm 2 to have flexibility and damping function, the connection mode between the mechanical arms 2 can achieve continuity and stability of movement, the damping mechanism 5 of the damping mechanism 5 and the arrangement of the free cavity 51, and the sliding of the metal ball 43 provide multistage damping and damping effects, effectively reduce the transmission of impact and vibration, and protect the normal operation of the mechanical arm 2 and other components.

The mechanical arm 2 is composed of a plurality of cantilever hinges, the buffer mechanism 4 mainly aims at the vibration of the position of the horizontal rotating arm 21, as the number of cantilever hinges is increased, namely the receiving arm 22 and the damping arm 23 are introduced, the buffer function of the buffer mechanism 4 is gradually reduced, in order to solve the problem of vibration transmission at the hinge position between the damping arm 23 and the receiving arm 22, the damping mechanism 5 is introduced, the free cavity 51 and the metal ball 43 in the damping mechanism 5 form an automatically adjustable damping structure, when the mechanical arm 2 is subjected to vibration impact, the buffer mechanism 4 can greatly consume the vibration in the direction of the horizontal rotating arm 21, however, at other cantilever positions, the vibration can be transmitted to the detecting mechanism 3 through the hinge position, the detection precision is affected, and therefore the damping mechanism 5 is introduced, the metal ball 43 in the free cavity 51 in the damping mechanism 5 can slide and change positions, so that vibration energy can be absorbed and dispersed, and the design of the damping mechanism 5 effectively reduces the vibration impact of the mechanical arm 2.

In order to meet the requirement of the detection process, the buffer mechanism 4 reduces the vertical force borne by the horizontal rotating arm 21, but the horizontal acting force still has the residual force which is not reduced, the damping mechanism 5 is set for the condition when the damping arm 23 shakes, in the free cavity 51, the metal ball 43 bounces and impacts left and right in the sliding process, the strip-shaped structure of the free cavity 51 is utilized to realize the principle similar to that of the buffer mechanism 4, and the metal ball 43 can only buffer unidirectionally due to the fact that the diameter of the free cavity 51 is similar to the size of the metal ball 43, unnecessary vibration is reduced, the detection area is damped pertinently, the mechanical arm 2 can stably operate in the hot forging process and interference and damage to the damping mechanism 3 are reduced through the combined design of the damping arm 23, the bearing arm 22 and the damping mechanism 5, and the damping mechanism 5 has the adjusting performance and can be optimized according to the actual condition, so that the optimal damping effect is realized.

As shown in fig. 8 and 9, in order to meet the requirement of the detection process, the detection mechanism 3 adopts a combined design of a housing 31, a chassis 32, a spring 33 and a telescopic probe 34, the chassis 32 is fixedly connected with the damping arm 23, the housing 31 is fixedly connected with the chassis 32 to form a basic structure of the mechanism, one end of the spring 33 is fixedly connected with the chassis 32, the other end of the spring 33 is fixedly connected with the telescopic probe 34, the control of the telescopic probe 34 is realized through elastic force, the top end of the telescopic probe 34 is fixedly connected with a detector 35, the detector 35 is used for transmitting a detection signal, the other end of the telescopic probe 34 extends out of the cylindrical boss 341, and the inner diameter of the cylindrical boss 341 is half of the inner diameter of the spring 33 and extends into the chassis 32.

The shell 31 of detection mechanism 3 has the function of protection and support, effectively ensures the safe operation of internal components, simultaneously, chassis 32 with damping arm 23's fixed connection has guaranteed detection mechanism 3 with stable the connection between the arm 2, spring 33's effect is to provide elastic support for flexible probe 34 can flexible to adapt to different detection demands, in addition, flexible probe 34 pass through the fixed connection on top with detector 35 links to each other, realizes the real-time supervision to the hot forging, through this design, detection mechanism 3 can provide excellent performance in the aspect of stability, flexibility and accuracy.

The unique structure is formed at one end of the telescopic probe 34, the structure utilizes the proportional relation between the inner diameter of the columnar bulge 341 and the inner diameter of the spring 33, stable telescopic movement is realized, meanwhile, the columnar bulge 341 extends into the chassis 32, stability and accuracy of the telescopic probe 34 are ensured, the columnar bulge 341 and the spring 33 are arranged in proportion, so that the columnar bulge 341 can move in the shaking range of the spring 33, the damping function of the spring 33 on the telescopic probe 34 is realized, reliable structural support and flexible telescopic function are provided by the design, data monitoring in a hot forging process can be accurately and stably performed, the reliability and stability of the detection mechanism 3 in the working process are ensured by the protection effect of the shell 31 and the fixed connection of the chassis 32, and the structural requirement and functional requirement of the detection mechanism 3 are met by the design scheme, so that a reliable monitoring means is provided for the hot forging state.

As shown in fig. 7, an arc-shaped concave table 36 is fixedly connected around the center of the chassis 32 to form a special supporting structure, the lower surface of the concave table extends to form a cushioning cavity 37 with a hollow cylindrical structure, the cushioning cavity 37 is connected with the inside of the chassis 32, an annular partition 38 extends from the edge of the cushioning cavity 37, the upper edge and the lower edge of the annular partition 38 are both provided with inclined radians, the design is such that the arc-shaped concave table 36 in the chassis 32 provides stable support, the cushioning cavity 37 can be mounted on the chassis 32 and kept stable, the hollow cylindrical structure of the cushioning cavity 37 can effectively absorb and absorb vibration, the arrangement of the annular partition 38 further increases the stability of the cushioning cavity 37 to prevent displacement in the movement process, and the inclined radians of the upper edge and the lower edge of the annular partition 38 are beneficial to the transmission of vibration energy to be stably guided, so as to provide a better cushioning effect; the design of the chassis 32 provides stable supporting and damping functions, and ensures the stability and accuracy of the detection mechanism 3 in the hot forging process; the hollow structure of the shock absorbing cavity 37 and the arrangement of the annular partition 38 achieve uniformity of energy transfer and dispersion, provide a reliable vibration damping effect, and the structural stability and shock absorbing performance of the chassis 32 are further enhanced by the arc-shaped concave table 36 and the inclined radian design.

As shown in fig. 10, 11 and 12, the cylindrical protrusion 341 is in contact with the lower bottom surface of the damping cavity 37, the diameter ratio between them is 4:5, the middle portion of the cylindrical protrusion 341 is called a damping post 342, the diameter of which is half of the diameter of the cylindrical protrusion 341, the height of the damping post 342 is twice of the height of the annular partition 38, the upper surface of which is fixedly connected with the connecting post 343, the other end of the connecting post 343 is fixedly connected with the telescopic probe 34, the damping post 342 and the connecting post 343 have different diameters, and the diameter of the damping post 342 is larger than that of the connecting post 343, the connecting post 343 is used for penetrating the spherical hole pad 363 and is fixedly connected with the spherical hole pad 363, and the diameter of the cylindrical protrusion 341 is smaller than that of the damping cavity 37, thus allowing the cylindrical protrusion 341 to shake slightly under a large vibration to realize active damping.

As shown in fig. 13, on the upper surface of the annular partition 38, the shock-proof bowl 39 is fixedly connected, the shock-proof bowl 39 is approximately attached to the arc-shaped concave table 36, and the outer edge corner of the shock-proof bowl 39 is rounded with an arc of 5-10 ° so as to increase the strength and shock-absorbing performance of the structure, a rectangular groove 361 is formed in the position, close to the arc-shaped concave table 36, of the shock-proof bowl 39, a shock-proof spring 362 is placed in the rectangular groove 361, the shock-proof spring 362 is in a strip-shaped structure, the distance between adjacent shock-proof springs 362 is smaller than the diameter of the cylindrical protrusion 341, and the two shock-proof springs 362 are in a strip-shaped structure and are located on two sides of the central axis of the cylindrical protrusion 341, so that on one hand, the cylindrical protrusion 341 is blocked, on the other hand, a shock-absorbing shock is provided, and a spherical hole pad 363 is placed at the lower end of the shock-proof spring 362.

The spherical hole pad 363 is located at the lower end of the shockproof spring 362, the design further reduces vibration transmission and noise generation, a better damping effect is provided, the spherical hole pad 363 is made of elastic materials and is arranged in the arc-shaped concave table 36, when the detection mechanism 3 shakes, the spherical hole pad 363 can actively collide with the arc-shaped concave table 36 to realize movable damping, the protection mechanism is prevented from being disturbed by external vibration, the circular through hole 364 is arranged at the central shaft of the spherical hole pad 363, an embossment pattern is arranged at the inner edge of the circular through hole 364, so that friction force between the connection post 343 is increased, the diameter of the connection post 343 is the same as that of the connection post 343, the diameter of the connection post 343 passes through the circular through hole 364, the diameter of the spherical hole pad 363 is the same as that of the cylindrical boss 341, through the arrangement of the circular through hole 364, the connection post 343 can firmly pass through the spherical hole pad 363, additional support and stability are provided, the spherical hole pad 363 and the connection post 363 are directly contacted with the connection post 343, the vibration and the vibration of the cylindrical boss 363 are gradually and the cylindrical boss 341, and the vibration is gradually and stably matched with each other through the cylindrical hole 363, and the vibration is gradually and stably matched with the vibration pad by the cylindrical hole 363.

When in operation, the device comprises: because of the stamping plasticity of the forging equipment, vibration in the vertical direction and vibration in the horizontal direction can occur in the equipment at the moment, the annular air bag 42 in the buffer mechanism 4 greatly reduces shaking from the forging equipment in the vertical direction, the metal ball 43 can bounce at the moment for the residual force generated by shaking, the detection robot can bounce under the action of force at the moment, on one hand, the gravity can slow down the elasticity of the equipment, on the other hand, when the equipment descends, the metal ball 43 loses the upward acting force for driving the metal ball 43, the metal ball 43 can rapidly descend under the action of gravity, at the moment, the equipment can vibrate under the action of the residual force, and the metal ball 43 can repeatedly bounce in the recoil area 44 due to the own elasticity, so that the residual force is counteracted by the metal ball 43; the jump of the metal ball 43 is stopped until the equipment stops vibrating, and after the equipment stops, the spring of the metal ball 43 is buffered by the annular air bag 42 due to the coarse buffering of the annular air bag 42, at this time, the vibration of the metal ball 43 is buffered by the annular air bag 42, so the metal ball 43 does not have an influence on the vibration of the equipment and the metal ball 43 can buffer the vibration of the equipment in the plastic environment.

Subsequently, for the shaking in the horizontal direction, the free cavity 51 of the metal ball 43 is also provided, and the metal ball 43 is buffered in the horizontal direction by the same principle, and the difference is that the metal ball 43 is damped in a fixed sliding manner in the free cavity 51.

The position of detection mechanism 3 is mainly aimed at detection of detection position, because forging equipment's high temperature, detection robot needs to carry out real-time supervision to the forging, and pass through after every detection arm 2 carries out the position change, in the change in-process, detection mechanism 3 can take place tiny rocking, rocks at this moment through spliced pole 343 with shock-absorbing column 342 transmission for cylindricality protruding 341 produce in the bradyseism chamber 37 and rock, thereby slow down detection equipment's rocking, spliced pole 343's vibration is by sphere hole pad 363 slightly rocks in arc concave station 36, thereby buffering, shock-absorbing column 342 is synchronous to annular cut off 38 carries out flexible impact, thereby realizes the shock attenuation as a whole, detects the expansion and contraction of detection mechanism 3 because probably involves laminating, so design spring 33 carries out hard buffering to the structure, makes overall stability higher.

Even though the invention has been described with reference to specific exemplifying embodiments thereof, many different alternatives, modifications and the like will become apparent for those skilled in the art. Also, it should be noted that the circuit arrangement and manner of identification detection within the inventive device may be omitted, and may be exchanged or arranged in various ways, while the structure of the device is still capable of performing the functionality of the invention.

Claims (8)

1. The online real-time detection robot for the hot forging products comprises a base (1), a mechanical arm (2) and a detection mechanism (3); the method is characterized in that: the base (1) is of a cylindrical structure, a buffer mechanism (4) is fixedly connected between the base (1) and the mechanical arm (2), and the buffer mechanism (4) is used for vertically buffering vibration of the mechanical arm (2) through combination of gas pressure and acting force in the opposite direction; the mechanical arm (2) is formed by hinging a plurality of cantilevers, one end of the mechanical arm (2) is fixedly connected with a drag reduction mechanism (5), and the drag reduction mechanism (5) is used for reducing aftershock of the mechanical arm (2) through irregular small-sized vibration; the tail end of the mechanical arm (2) is rotatably connected with a detection mechanism (3), and the detection mechanism (3) is used for realizing data monitoring of the hot forging through multistage buffering; the detection mechanism (3) and the mechanical arm (2) are electrically connected with the control mechanism.

2. The online real-time detection robot for hot forging products according to claim 1, wherein: the utility model discloses a fixed station is connected to fixed surface on base (1), fixed station (11) is cylindrical structure and inside movable chamber (111) that sets up, movable chamber (111) are hopper-shaped and extend to half department in base (1), movable chamber (111) inward flange is provided with backing ring (112) and lower backing ring (113), go up backing ring (112) with lower backing ring (113) coaxial heart and internal diameter are the same, go up interval between backing ring (112) and lower backing ring (113) with the ratio of fixed station (11) height is 1:2.

3. the online real-time detection robot for hot forging products according to claim 2, wherein: the buffer mechanism (4) comprises a movable plate (41), an annular air bag (42) and a metal ball (43); the clearance thickness between last backing ring (112) with lower backing ring (113) is twice movable plate (41), movable plate (41) are located go up backing ring (112) with between lower backing ring (113), all fixedly connected with annular gasbag (42) on movable plate (41) upper surface and lower surface, annular gasbag (42) be annular and the internal diameter with go up backing ring (112) the same, lower backing ring (113) with movable chamber (111) bottom surface is provided with recoil district (44), a plurality of metal balls (43) have been placed in recoil district (44).

4. The online real-time detection robot for hot forging products according to claim 3, wherein: the mechanical arm (2) comprises a horizontal rotating arm (21), a bearing arm (22) and a damping arm (23); the bottom end of the horizontal rotating arm (21) is fixedly connected with the movable plate (41), the other end of the horizontal rotating arm (21) is hinged with the bearing arm (22), the other end of the bearing arm (22) is hinged with the damping arm (23), and the other end of the damping arm (23) is rotatably connected with the detection mechanism (3); damping arm (23) with articulated department fixedly connected with drag reduction mechanism (5) of accepting arm (22), drag reduction mechanism (5) are rectangular cavity, be provided with free chamber (51) in drag reduction mechanism (5), free chamber (51) are rectangular cavity, free chamber (51) set up to a plurality of and parallel arrangement are in drag reduction mechanism (5), have placed in free chamber (51) metal ball (43), the internal diameter in free chamber (51) is three times of metal ball (43) diameter.

5. The online real-time detection robot for hot forging products according to claim 1, wherein: the detection mechanism (3) comprises a shell (31), a chassis (32), a spring (33) and a telescopic probe (34); the mechanical arm comprises a chassis (32), a mechanical arm (2) and a shell (31), wherein the shell is fixedly connected with the chassis (32), one end of a spring (33) is fixedly connected with the chassis (32), the other end of the spring (33) is fixedly connected with a telescopic probe (34), the top end of the telescopic probe (34) is fixedly connected with a detector (35), a cylindrical bulge (341) extends out of the other end of the telescopic probe (34), the inner diameter of the cylindrical bulge (341) is half of the inner diameter of the spring (33), and the cylindrical bulge (341) extends into the chassis (32); the novel damping device is characterized in that an arc concave table (36) is fixedly connected around the center of the chassis (32), the lower surface of the arc concave table (36) is a damping cavity (37), the damping cavity (37) is of a hollow cylindrical structure and extends to the inside of the chassis (32), an annular partition (38) is extended from the edge of the damping cavity (37), and radian inclined by 5 degrees is arranged at the upper edge and the lower edge of the annular partition (38).

6. The online real-time detection robot for hot forging products according to claim 5, wherein: the columnar bulge (341) is in movable contact with the lower bottom surface of the cushioning cavity (37), and the ratio of the diameter of the columnar bulge (341) to the inner diameter of the cushioning cavity (37) is 4:5, cylindricality protruding (341) mid portion is shock strut (342), shock strut (342) diameter is cylindricality protruding (341) half, shock strut (342) height is annular cuts off (38) double, shock strut (342) upper surface fixed mounting has spliced pole (343), spliced pole (343) other end with flexible probe (34) fixed connection.

7. The online real-time detection robot for hot forging products according to claim 6, wherein: the anti-vibration device is characterized in that an anti-vibration bowl (39) is fixedly connected to the upper surface of the annular partition (38), the anti-vibration bowl (39) is attached to the arc-shaped concave table (36), an arc of 5-10 degrees is arranged at the corner of the outer edge of the anti-vibration bowl (39), a rectangular groove (361) is formed in the edge of the position, close to the arc-shaped concave table (36), of the anti-vibration bowl (39), an anti-vibration spring (362) is placed in the rectangular groove (361), the anti-vibration spring (362) is in a strip-shaped structure, the spacing between the strip-shaped structures formed by the anti-vibration spring (362) is smaller than the diameter of the cylindrical protrusion (341), and two sides of the anti-vibration spring (362) are located at two sides of the central shaft of the cylindrical protrusion (341). A spherical hole pad (363) is arranged at the lower end of the shockproof spring (362).

8. The online real-time detection robot for hot forging products according to claim 7, wherein: the center shaft of the spherical hole pad (363) is provided with a circular through hole (364), the diameter of the circular through hole (364) is the same as that of the connecting column (343), the connecting column (343) penetrates through the circular through hole (364), the inner edge of the circular through hole (364) is provided with an embossing pattern, and the diameter of the spherical hole pad (363) is the same as that of the cylindrical bulge (341).