CN106270344B - Heavy-load forging operation robot - Google Patents
Heavy-load forging operation robot Download PDFInfo
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- CN106270344B CN106270344B CN201610778509.8A CN201610778509A CN106270344B CN 106270344 B CN106270344 B CN 106270344B CN 201610778509 A CN201610778509 A CN 201610778509A CN 106270344 B CN106270344 B CN 106270344B
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- clamp
- lifting
- moving
- base body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
Abstract
The invention provides a heavy-load forging operation robot which comprises a lifting mechanism, a clamp telescopic mechanism, a clamp head vertical surface rotating mechanism, a clamp mechanism horizontal rotating mechanism and a moving mechanism, wherein the clamp mechanism is arranged on the clamp head vertical surface rotating mechanism; wherein, the horizontal slewing mechanism of the clamp mechanism is arranged on the moving mechanism; the lifting mechanism, the clamp telescopic mechanism and the clamp head vertical surface rotating mechanism are arranged on the horizontal rotating mechanism of the clamp mechanism; the moving mechanism is used for driving the horizontal slewing mechanism of the clamp mechanism to move; the horizontal slewing mechanism of the clamp mechanism is used for driving the lifting mechanism, the clamp telescopic mechanism and the clamp head vertical surface slewing mechanism to horizontally rotate; the clamp head vertical surface rotating mechanism is used for driving the clamp mechanism to rotate in a vertical surface; the clamp stretching mechanism is used for driving the stretching of the clamp mechanism. The heavy-load forging operation robot is a mobile heavy-load operation robot with 9 degrees of freedom and is wide in application range.
Description
Technical Field
The invention relates to a robot, in particular to a heavy-load forging operation robot.
Background
With the increasing speed of national economic development and infrastructure construction, the domestic demand on large forging hydraulic machines is increasing, incomplete statistics is refused, only ten sets of ten-thousand-ton large free forging hydraulic machines are built at present, and the free forging hydraulic machines are urgently required to be provided with corresponding heavy-load forging operation robots. With the advance of industry, the functional requirements of heavy-duty forging robots, such as the extension and contraction of a gripper mechanism, have become diversified. Therefore, the diversification development of the heavy-duty forging operation robot becomes very important, which is related to the promotion of the national industrial level.
Through the search of the prior document, the patent application number 201210420626.9 is found, and the name is a multi-suspension rod combined forging manipulator. The moving of the whole machine and the clamping of the workpieces are realized by the running of the frame on the fixed track, the device can only work along the track, and for the workpieces on the left and right of the track and the workpieces needing to be taken from the electric furnace, the clamp is required to have the functions of stretching and retracting, horizontal left and right rotating and balancing the moment when the clamp is stretched, and the device cannot work effectively.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a heavy-load forging operation robot.
The heavy-load forging operation robot comprises a lifting mechanism, a clamp telescopic mechanism, a clamp head vertical surface rotating mechanism, a clamp mechanism horizontal rotating mechanism and a moving mechanism;
the horizontal slewing mechanism of the clamping mechanism is arranged on the moving mechanism; the lifting mechanism, the clamp telescopic mechanism and the clamp head vertical surface rotating mechanism are arranged on the horizontal rotating mechanism of the clamp mechanism;
the moving mechanism is used for driving the horizontal slewing mechanism of the clamping mechanism to move; the horizontal slewing mechanism of the clamp mechanism is used for driving the lifting mechanism, the clamp telescopic mechanism and the clamp head vertical surface slewing mechanism to horizontally slew; the clamp head vertical surface rotating mechanism is used for driving the clamp mechanism to rotate in a vertical surface; the clamp stretching mechanism is used for driving the clamp mechanism to stretch; the lifting mechanism is used for driving the clamp mechanism to lift in a horizontal plane to adjust the height.
Preferably, the moving mechanism comprises a lower end base body, a wheel and a chain wheel;
wheels are arranged on the lower end base body and can move on the guide rails through the wheels; the chain wheels are arranged on two sides of the lower end base body; the chain wheel drives the wheel to move.
Preferably, the horizontal slewing mechanism of the clamping mechanism comprises an upper-end base body horizontal slewing ring-shaped guide rail, a lower-end base body gear disc, an upper-end base body pinion and an upper-end base body;
an upper-end substrate horizontal rotary annular guide rail is arranged on the top side surface of the lower-end substrate, and the lower end surface of the upper-end substrate is arranged on the upper-end substrate horizontal rotary annular guide rail and can rotate along the upper-end substrate horizontal rotary annular guide rail;
the lower end base body gear disc and the upper end base body horizontal rotary annular guide rail are concentrically arranged;
the upper end base body pinion gears are distributed along the circumferential direction of the lower end base body gear disc and are meshed with the lower end base body gear disc; the pinion of the upper base body is connected with the output shaft of the lower motor of the upper base body.
Preferably, the lifting mechanism comprises a rear lifting beam, a front lifting beam, a lateral-moving hydraulic cylinder, a front lifting beam moving shaft, a clamp moving base, a front end lifting arm, a lifting cylinder piston rod, a pitching cylinder body, a buffer protective sleeve, a pitching cylinder body piston rod, a first lifting cylinder body and a buffer hydraulic cylinder;
the two ends of the rear side of the front lifting beam and the rear lifting beam are respectively connected to the upper end base body through the top groove of the upper end base body; the lifting beam moving shaft is arranged at the front side end of the front lifting beam and is connected with the upper end of the front lifting arm through a first bearing; a transverse shaft at the front end of the rear lifting beam is connected with the pitching cylinder body through a second bearing;
the lower end of the front end lifting arm and a pitching cylinder body piston rod of the pitching cylinder body are respectively connected with the clamp moving base through a third bearing and a fourth bearing; the pitching cylinder body is used for controlling the clamp moving base to pitch through a pitching cylinder body piston rod;
the lower end of the first lifting cylinder body is connected with the upper end base body, and a first lifting piston rod of the first lifting cylinder body is connected with the rear lifting beam; the lower end of the second lifting cylinder body is connected with the upper end base body, and a second lifting piston rod of the second lifting cylinder body is connected with the front lifting beam;
the buffer protection sleeve is arranged on the bottom side surface of the clamp moving base; lateral moving hydraulic cylinders are arranged on two sides of the front lifting beam, and piston rods of the lateral moving hydraulic cylinders are connected with a lifting beam moving shaft;
the lateral movement hydraulic cylinder and the hydraulic device at the bottom of the clamp moving base are matched with each other to realize the left and right movement of the clamp base body of the clamp mechanism; the rear end of the buffer hydraulic cylinder is installed on the clamp moving base, and the front end of the buffer hydraulic cylinder is hinged to the front end lifting arm.
Preferably, the clamp mechanism comprises a clamp connection neck, a clamp base body and a moving ram
The front end of the clamp connecting neck is connected with a clamp, and the rear end is connected with a clamp base body; the clamp base body is connected with the movable ram through a bolt;
the movable ram is arranged on a guide rail of the clamp moving base, so that the clamp connecting neck, the clamp and the clamp base body move back and forth on the clamp moving base along the guide rail.
Preferably, the clamp head vertical surface rotating mechanism comprises a steering motor, a driving pinion, a clamp steering shaft and a steering bull gear;
the steering motors are arranged on two sides of the tail end of the clamp base body, the output ends of the steering motors are connected with driving small gears, and the driving small gears are meshed with steering large gears; the steering large gear is arranged at the rear end of the clamp base body;
one end of the clamp steering shaft is connected with the shell of the clamp, and the other end of the clamp steering shaft is connected with the steering bull gear; the steering bull gear drives the clamp to rotate.
Preferably, the clamp stretching mechanism comprises a clamp moving oil cylinder, a clamp opening and closing connecting shaft and a clamp opening and closing linear motor;
the clamp moving oil cylinder is arranged on the annular bottom inside the clamp moving base; the clamp moving oil cylinder 29 drives the clamp base body to move back and forth on the clamp moving base along the guide rail;
one end of the clamp opening and closing connecting shaft is hinged with a clamp body of the clamp, and the other end of the clamp opening and closing connecting shaft is connected with a piston rod of the clamp opening and closing linear motor.
Preferably, the clamp steering shaft, the clamp opening and closing connecting shaft and the clamp opening and closing linear motor are concentrically arranged.
Preferably, the balance weight adjusting device further comprises a balance weight, a balance weight piston rod and a balance weight adjuster;
the rear end of the upper end substrate is provided with a balance block, and the balance block is arranged on a guide rail at the inner side of the upper end substrate and is connected with a balance block piston rod; the balance weight adjuster is connected with the balance weight piston rod.
Compared with the prior art, the invention has the following beneficial effects:
the heavy-load forging operation robot is a mobile heavy-load operation robot with 9 degrees of freedom and has a wide application range; the 9 degrees of freedom comprise two pairs of independent working lifting hydraulic cylinders of the lifting mechanism, clamp rotation, clamp moving base pitching, clamp base left-right moving, clamp stretching, clamp opening and closing, upper end base body rotation and balance adjustment in the robot working process; the whole movement of the invention is realized by the running of the frame on a fixed track, the upper end base body can perform horizontal rotary motion, the clamp can perform large-scale (2-10 meters) telescopic motion according to the working requirement, meanwhile, the clamp can rotate 360 degrees around the axis of the clamp rod, and the clamp has lifting motion, pitching motion, small-scale (0.2-0.5 meters) front-and-back movement and left-and-right movement; the hydraulic power device of the invention provides power and balances the moment of the clamp for the extension work.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the construction of the lifting mechanism of the present invention;
FIG. 3 is a schematic view of the movement of the clamp of the present invention;
FIG. 4 is a rear view of the structure of the movement of the clamp in the present invention;
FIG. 5 is a schematic view of a lower end substrate in the present invention;
FIG. 6 is a cross-sectional view of the clamp of the present invention;
FIG. 7 is a partial cross-sectional view of the upper end substrate of the present invention;
fig. 8 is a left side view of the upper end base in the present invention.
Wherein:
1 is a lower end substrate; 2 is a chain wheel protective cover; 3 is an upper end matrix; 4 is a hydraulic power device; 5 is a rear lifting beam; 6 lifting the beam on the premise; 7 is a lateral moving hydraulic cylinder; 8, a lifting beam moving shaft is provided; 9 is a clamp moving base; 10 is a clamp connecting neck; 11 is a clamp; 12 is a front end lifting arm; 13 is a second lifting piston rod; 14 is a pitching cylinder; 15 is a buffer protective sleeve; 16 is a pitch cylinder piston rod; 17 is a first lifting cylinder; 18 is a buffer hydraulic cylinder; 19 is a clamp base body; 20 is a movable ram; 21 is a steering motor; 22 is a front lifting arm connecting shaft; 23 is a steering bull gear; 24 is a drive pinion; 25 is a connecting shaft of a piston rod of the pitching cylinder body; 26 is a clamp steering shaft; 27 is a clamp opening and closing connecting shaft; 28 is a clamp opening and closing linear motor; 29 is a clamp moving oil cylinder; 30 is a chain wheel; 31 is a lower base gear disc; 32 is an upper end base pinion; 33 is an upper end substrate horizontal rotary annular guide rail; 34 is a balance weight adjuster; 35 is a balance weight piston rod; 36 is a balance block; 37 is a wheel.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
In this embodiment, the heavy-duty forging operation robot provided by the invention comprises a lifting mechanism, a clamp telescopic mechanism, a clamp head vertical surface rotating mechanism, a clamp mechanism horizontal rotating mechanism and a moving mechanism;
the horizontal slewing mechanism of the clamping mechanism is arranged on the moving mechanism; the lifting mechanism, the clamp telescopic mechanism and the clamp head vertical surface rotating mechanism are arranged on the horizontal rotating mechanism of the clamp mechanism;
the moving mechanism is used for driving the horizontal slewing mechanism of the clamping mechanism to move; the horizontal slewing mechanism of the clamp mechanism is used for driving the lifting mechanism, the clamp telescopic mechanism and the clamp head vertical surface slewing mechanism to horizontally slew; the clamp head vertical surface rotating mechanism is used for driving the clamp mechanism to rotate in a vertical surface; the clamp stretching mechanism is used for driving the clamp mechanism to stretch; the lifting mechanism is used for driving the clamp mechanism to lift in a horizontal plane to adjust the height.
The moving mechanism comprises a lower end base body 1, a wheel 37, a chain wheel 30,
The horizontal slewing mechanism of the clamping mechanism comprises an upper-end substrate horizontal slewing ring-shaped guide rail 33, a lower-end substrate gear disc 31, an upper-end substrate pinion 32 and an upper-end substrate 3;
an upper-end substrate horizontal rotary annular guide rail 33 is arranged on the top side surface of the lower-end substrate 1, and the lower end surface of the upper-end substrate 3 is arranged on the upper-end substrate horizontal rotary annular guide rail 33 and can rotate along the upper-end substrate horizontal rotary annular guide rail 33;
the lower end base body gear disc 31 and the upper end base body horizontal rotary annular guide rail 33 are concentrically arranged;
the upper end base pinion 32 is distributed along the circumference of the lower end base gear disc 31 and is meshed with the lower end base gear disc 31; the upper base pinion 32 is connected to an output shaft of a lower motor of the upper base 3.
The hydraulic power device 4 is fixed at the rear end part of the upper end base body 3;
the lifting mechanism comprises a rear lifting beam 5, a front lifting beam 6, a lateral movement hydraulic cylinder 7, a front lifting beam moving shaft 8, a clamp moving base 9, a front end lifting arm 12, a lifting cylinder piston rod 11, a pitching cylinder body 14, a buffer protective sleeve 15, a pitching cylinder body piston rod 16, a first lifting cylinder body 17 and a buffer hydraulic cylinder 18;
the two ends of the rear sides of the front lifting beam 6 and the rear lifting beam 5 are respectively connected to the upper end base body 3 through a top groove of the upper end base body 3; the lifting beam moving shaft 8 is arranged at the front side end of the front lifting beam 6, and the lifting beam moving shaft 8 is connected with the upper end of a front lifting arm 12 through a first bearing; the front end transverse shaft of the rear lifting beam 5 is connected with a pitching cylinder body 14 through a second bearing;
the lower end of the front end lifting arm 12 and a pitch cylinder piston rod 16 of the pitch cylinder 14 are respectively connected with the clamp moving base 9 through a third bearing and a fourth bearing; the pitch cylinder 14 is used for controlling the clamp moving base 9 to pitch through a pitch cylinder piston rod 16;
the lower end of the first lifting cylinder 17 is connected with the upper end base body 3, and a first lifting piston rod of the first lifting cylinder 17 is connected with the rear lifting beam 5; the lower end of the second lifting cylinder body is connected with the upper end base body 3, and a second lifting piston rod 13 of the second lifting cylinder body is connected with the front lifting beam 6;
the buffer protective sleeve 15 is arranged on the bottom side surface of the clamp moving base 9; lateral moving hydraulic cylinders 7 are arranged on two sides of the front lifting beam 6, and piston rods of the lateral moving hydraulic cylinders 7 are connected with a lifting beam moving shaft 8.
The hydraulic devices at the bottoms of the lateral movement hydraulic cylinder 7 and the clamp moving base 9 are matched with each other to realize the left and right movement of a clamp base body 19 of the clamp mechanism; the damping cylinder 18 is mounted at its rear end on the clamp moving base 9 and at its front end hinged to the front lifting arm 12.
The clamp mechanism comprises a clamp connecting neck 10, a clamp 11, a clamp base body 19 and a movable ram 20;
the front end of the clamp connecting neck 10 is connected with a clamp 11, and the rear end is connected with a clamp base body 19; the clamp base body 19 and the movable ram 20 are connected through bolts;
the movable ram 20 is provided on a guide rail of the clamp moving base 9, and moves the clamp connecting neck 10, the clamp 11, and the clamp base 19 forward and backward on the clamp moving base 9 along the guide rail.
The clamp head vertical surface rotating mechanism comprises a steering motor 21, a driving pinion 24, a clamp steering shaft 26 and a steering bull gear 23;
the steering motor 21 is arranged on two sides of the tail end of the clamp base body 19, the output end of the steering motor 21 is connected with a driving pinion 24, and the driving pinion 24 is meshed with the steering bull gear 23; the steering bull gear 23 is arranged at the rear end of the clamp base body 19;
one end of the clamp steering shaft 26 is connected with the shell of the clamp 11, and the other end is connected with the steering bull gear 23; the steering bull gear 23 drives the clamp 11 to rotate.
The clamp stretching mechanism comprises a clamp moving oil cylinder 29, a clamp opening and closing connecting shaft 27 and a clamp opening and closing linear motor 28;
the clamp moving oil cylinder 29 is arranged on the annular bottom inside the clamp moving base 9; the clamp moving oil cylinder 29 drives the clamp base body 19 to move back and forth on the clamp moving base 9 along the guide rail;
one end of the clamp opening and closing connecting shaft 27 is hinged to the clamp body of the clamp 11, and the other end is connected to a piston rod of the clamp opening and closing linear motor 28.
The clamp steering shaft 26, the clamp opening and closing connecting shaft 27 and the clamp opening and closing linear motor 28 are concentrically arranged.
The heavy-load forging operation robot further comprises a balance weight adjuster 34, a balance weight piston rod 35 and a balance weight 36;
the rear end of the upper end base body 3 is provided with a balance weight adjuster 34, and the balance weight adjuster 34 is arranged on a guide rail on the inner side of the upper end base body 3 and connected with a balance weight piston rod 35. The counterbalance 36 is connected to the counterbalance piston rod 35.
The balance weight adjuster 34 is disposed at the middle position of the inner side of the upper end substrate 3, and four wheels 37 are respectively mounted on both sides of the lower end substrate 1.
The hydraulic power device is a power source of the hydraulic cylinder group, and the balancing device has the function of adjusting the balance of the forging operation robot.
The invention is a 9-degree-of-freedom device, and 9 degrees of freedom mean that 9 independent motions exist.
In this embodiment, the working process of the heavy-duty forging operation robot provided by the invention is as follows: the chain drives the chain wheel 30 through the chain, so that the wheels 37 move on the rail to be close to the workpiece; after moving a certain distance, the clamp moving oil cylinder 29 pushes the clamp base body 19 to advance, so that the clamp 11 reaches the vertical position of the workpiece; the positions of the front lifting beam 6 and the rear lifting beam 5 are adjusted by the ascending or descending of the second lifting piston rod 13 to drive the front lifting arm 12 and the pitching cylinder 142 to control the position of the clamp 11 in the vertical direction, and then the steering motor 21 works to drive the driving pinion 24 and the steering bull gear 23, so that the clamp 11 rotates to the most appropriate clamping position of the clamp 11; the clamp opening and closing linear motor 28 drives the clamp opening and closing connecting shaft 27 to open the clamp 11, so that the clamp 11 clamps the workpiece, then the clamp moving oil cylinder 29 contracts, and the clamp base body 19 drives the clamp 11 to retract the workpiece; when the whole clamp is extended and shortened, the balance system judges the moment change in the clamping process according to the output condition of the hydraulic oil of the hydraulic power device 4, and then the balance block adjuster 33 controls the extension and contraction of the balance block piston rod 35 to control the position of the balance block 36, so that the balance of the whole device is realized. Meanwhile, piston rods of the lateral-movement hydraulic cylinders 7 on the two sides of the front lifting beam 6 act on a front lifting beam moving shaft 8, the lifting beam moving shaft 8 is connected with a front lifting arm 12, the front lifting arm 12 is connected with the clamp moving base 9, and fine adjustment of the position of the clamp moving base 9 is achieved through movement of the lateral-movement hydraulic cylinders 7. The sprocket 30 then continues to operate, and the entire machine reaches the next station, the upper base pinion 32 rotates to cause the upper base pinion 32 to move circumferentially around the lower base gear plate 31, thereby causing the upper base 3 to rotate on the upper base horizontal rotating endless track 33, and the upper base pinion 32 stops rotating after the rotation reaches the direction of the workpiece.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (4)
1. A heavy-load forging operation robot is characterized by comprising a lifting mechanism, a clamp telescopic mechanism, a clamp head vertical surface rotating mechanism, a clamp mechanism horizontal rotating mechanism and a moving mechanism;
the horizontal slewing mechanism of the clamping mechanism is arranged on the moving mechanism; the lifting mechanism, the clamp telescopic mechanism and the clamp head vertical surface rotating mechanism are arranged on the horizontal rotating mechanism of the clamp mechanism; the horizontal slewing mechanism of the clamp mechanism comprises an upper-end substrate horizontal slewing ring-shaped guide rail, a lower-end substrate gear disc, an upper-end substrate pinion and an upper-end substrate;
the moving mechanism is used for driving the horizontal slewing mechanism of the clamping mechanism to move; the horizontal slewing mechanism of the clamp mechanism is used for driving the lifting mechanism, the clamp telescopic mechanism and the clamp head vertical surface slewing mechanism to horizontally slew; the clamp head vertical surface rotating mechanism is used for driving the clamp mechanism to rotate in a vertical surface; the clamp stretching mechanism is used for driving the clamp mechanism to stretch; the lifting mechanism is used for driving the clamp mechanism to lift in a horizontal plane to adjust the height; the moving mechanism comprises a lower end base body, wheels and a chain wheel;
wheels are arranged on the lower end base body and can move on the guide rails through the wheels; the chain wheels are arranged on two sides of the lower end base body; the chain wheel drives the wheel to move;
the lifting mechanism comprises a rear lifting beam, a front lifting beam, a lateral movement hydraulic cylinder, a front lifting beam moving shaft, a clamp moving base, a front end lifting arm, a lifting cylinder piston rod, a pitching cylinder body, a buffer protective sleeve, a pitching cylinder body piston rod, a first lifting cylinder body and a buffer hydraulic cylinder;
the two ends of the rear side of the front lifting beam and the rear lifting beam are respectively connected to the upper end base body through the top groove of the upper end base body; the front lifting beam moving shaft is arranged at the front side end of the front lifting beam and is connected with the upper end of the front lifting arm through a first bearing; a transverse shaft at the front end of the rear lifting beam is connected with the pitching cylinder body through a second bearing;
the lower end of the front end lifting arm and a pitching cylinder body piston rod of the pitching cylinder body are respectively connected with the clamp moving base through a third bearing and a fourth bearing; the pitching cylinder body is used for controlling the clamp moving base to pitch through a pitching cylinder body piston rod;
the lower end of the first lifting cylinder body is connected with the upper end base body, and a first lifting piston rod of the first lifting cylinder body is connected with the rear lifting beam; the lower end of the second lifting cylinder body is connected with the upper end base body, and a second lifting piston rod of the second lifting cylinder body is connected with the front lifting beam;
the buffer protection sleeve is arranged on the bottom side surface of the clamp moving base; lateral moving hydraulic cylinders are arranged on two sides of the front lifting beam, and piston rods of the lateral moving hydraulic cylinders are connected with a front lifting beam moving shaft;
the lateral movement hydraulic cylinder and the hydraulic device at the bottom of the clamp moving base are matched with each other to realize the left and right movement of the clamp base body of the clamp mechanism; the rear end of the buffer hydraulic cylinder is arranged on the clamp moving base, and the front end of the buffer hydraulic cylinder is hinged on the front end lifting arm;
the clamp mechanism comprises a clamp connecting neck, a clamp base body and a movable ram;
the front end of the clamp connecting neck is connected with a clamp, and the rear end of the clamp connecting neck is connected with a clamp base body; the clamp base body is connected with the movable ram through a bolt;
the movable ram is arranged on a guide rail of the clamp moving base, so that the clamp connecting neck, the clamp and the clamp base body move back and forth on the clamp moving base along the guide rail;
the clamp stretching mechanism comprises a clamp moving oil cylinder, a clamp opening and closing connecting shaft and a clamp opening and closing linear motor;
the clamp moving oil cylinder is arranged on the annular bottom inside the clamp moving base; the clamp moving oil cylinder drives the clamp base body to move back and forth on the clamp moving base along the guide rail;
one end of the clamp opening and closing connecting shaft is hinged with a clamp body of the clamp, and the other end of the clamp opening and closing connecting shaft is connected with a piston rod of the clamp opening and closing linear motor;
the balance weight adjusting device comprises a balance weight, a balance weight piston rod and a balance weight adjuster;
the rear end of the upper end substrate is provided with a balance block, and the balance block is arranged on a guide rail at the inner side of the upper end substrate and is connected with a balance block piston rod; the balance weight adjuster is connected with a balance weight piston rod;
the balance weight adjusting device is characterized by further comprising a balance system and a hydraulic power device, wherein the balance system judges the torque change in the adding and holding process according to the output condition of hydraulic oil of the hydraulic power device, and then the balance weight adjuster controls the extension and contraction of a balance weight piston rod to control the position of a balance weight.
2. The heavy-duty forging operation robot as claimed in claim 1, wherein an upper-end base horizontal rotary endless rail is provided on a top side surface of the lower-end base, and a lower end surface of the upper-end base is provided on the upper-end base horizontal rotary endless rail so as to be rotatable along the upper-end base horizontal rotary endless rail;
the lower end base body gear disc and the upper end base body horizontal rotary annular guide rail are concentrically arranged;
the upper end base body pinion gears are distributed along the circumferential direction of the lower end base body gear disc and are meshed with the lower end base body gear disc; the upper base pinion is connected to the output shaft of the lower motor of the upper base.
3. The heavy-duty forging operation robot of claim 1, wherein the clamp head vertical face rotation mechanism includes a steering motor, a drive pinion, a clamp steering shaft, and a steering bull gear;
the steering motors are arranged on two sides of the tail end of the clamp base body, the output ends of the steering motors are connected with driving small gears, and the driving small gears are meshed with steering large gears; the steering large gear is arranged at the rear end of the clamp base body;
one end of the clamp steering shaft is connected with the shell of the clamp, and the other end of the clamp steering shaft is connected with the steering bull gear; the steering bull gear drives the clamp to rotate.
4. The heavy-duty forging operation robot of claim 3, wherein the clamp steering shaft, the clamp opening and closing connecting shaft, and the clamp opening and closing linear motor are concentrically installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610778509.8A CN106270344B (en) | 2016-08-30 | 2016-08-30 | Heavy-load forging operation robot |
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|---|---|---|---|
| CN201610778509.8A CN106270344B (en) | 2016-08-30 | 2016-08-30 | Heavy-load forging operation robot |
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| CN106270344A CN106270344A (en) | 2017-01-04 |
| CN106270344B true CN106270344B (en) | 2020-04-24 |
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| CN106378408B (en) * | 2016-08-30 | 2020-07-14 | 上海交通大学 | Energy-saving heavy-load forging operation robot |
| CN106903257B (en) * | 2017-03-15 | 2019-04-26 | 王安基 | Forging manipulator and forging equipment |
| CN107363182B (en) * | 2017-08-24 | 2020-05-12 | 江苏中机华隆兴科技有限公司 | High-temperature train axle clamping and rotating device |
| CN108098754A (en) * | 2017-12-26 | 2018-06-01 | 聊城大学 | A kind of method for realizing heavily loaded transfer robot balance |
| CN108405782A (en) * | 2018-05-31 | 2018-08-17 | 福州大学 | A kind of small-sized efficient forging manipulator and its application method |
| CN111843781B (en) * | 2020-07-15 | 2021-04-27 | 太原理工大学 | Robot is clear away on line to hard and soft coupling driven super large axle class forging cinder |
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| DE3831184A1 (en) * | 1987-09-18 | 1989-04-06 | Hasenclever Maschf Sms | Integrated control for a manipulator, and open-die forging press interacting with the latter and a manipulator with a measuring device for this purpose |
| CN101607296A (en) * | 2009-07-23 | 2009-12-23 | 上海交通大学 | Upper connecting rod forward-only connecting type forging manipulator |
| CN201645484U (en) * | 2010-02-26 | 2010-11-24 | 华南理工大学 | Robot applied in engine air valve electric upsetting hot forging forming process |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN102303089A (en) * | 2011-09-30 | 2012-01-04 | 重庆大学 | Forging manipulator |
| CN102935481A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Suspension type forging manipulator of lifting mechanism |
| CN102935482B (en) * | 2012-10-30 | 2014-12-24 | 燕山大学 | Synchronous connecting rod forwardly-connected forging manipulator |
| CN104438922A (en) * | 2014-10-29 | 2015-03-25 | 合肥泰禾光电科技股份有限公司 | Punching machine intelligent feeding-cropping mechanical arm |
| CN204770427U (en) * | 2015-05-31 | 2015-11-18 | 江苏一重数控机床有限公司 | Forge and press high -efficient heavily loaded work robot and go up connecting rod in same direction as antithetical couplet formula hoist mechanism |
| CN106378408A (en) * | 2016-08-30 | 2017-02-08 | 上海交通大学 | Novel energy-saving heavy-load forging robot |
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| CN106270344A (en) | 2017-01-04 |
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