CN109047615A - A kind of forging machinery arm clamper being suitable for various outer diameter size cylindrical workpiece - Google Patents
A kind of forging machinery arm clamper being suitable for various outer diameter size cylindrical workpiece Download PDFInfo
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- CN109047615A CN109047615A CN201810650114.9A CN201810650114A CN109047615A CN 109047615 A CN109047615 A CN 109047615A CN 201810650114 A CN201810650114 A CN 201810650114A CN 109047615 A CN109047615 A CN 109047615A
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- arm
- connecting rod
- support plate
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- 238000005242 forging Methods 0.000 title claims abstract description 32
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 8
- 229910000639 Spring steel Inorganic materials 0.000 claims description 3
- 229910001018 Cast iron Inorganic materials 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000006835 compression Effects 0.000 description 25
- 238000007906 compression Methods 0.000 description 25
- 238000004519 manufacturing process Methods 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 108010084652 homeobox protein PITX1 Proteins 0.000 description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 230000003044 adaptive effect Effects 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005520 cutting process Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 240000000233 Melia azedarach Species 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forging (AREA)
Abstract
本发明属于机器人技术领域，涉及一种可适应不同外径尺寸圆柱形工件的锻造机械臂夹持器，采用夹紧液压缸驱动夹紧液压缸活塞杆往复移动，通过左、右侧连杆将夹紧液压缸活塞杆的往复移动转化成左侧夹紧臂和右侧夹紧臂绕各自固定铰链点的往复摆动并通过安装在夹紧臂上的V型夹紧块夹紧和放松工件；松开两个长槽孔中的两个滑块用的内六角螺钉时，转动曲柄轴可以改变滑块在支撑板滑道中的位置，从而改变左侧夹紧臂和右侧夹紧臂固定铰链点位置，以适应夹持不同外径尺寸的圆柱形工件；其原理可靠，结构简单，操作方便，不需要更换夹持器就可以完成对不同外径工件的夹持任务，环境适应性好，安全可靠。
The invention belongs to the technical field of robots, and relates to a clamper for a forging mechanical arm that can adapt to cylindrical workpieces with different outer diameters. A clamping hydraulic cylinder is used to drive the piston rod of the clamping hydraulic cylinder to move back and forth. The reciprocating movement of the piston rod of the clamping hydraulic cylinder is converted into the reciprocating swing of the left clamping arm and the right clamping arm around their respective fixed hinge points, and the workpiece is clamped and released by the V-shaped clamping block installed on the clamping arm; When loosening the Allen screws for the two sliders in the two slotted holes, turning the crankshaft can change the position of the sliders in the slideways of the support plate, thereby changing the left and right clamping arm fixing hinges point position, to adapt to clamping cylindrical workpieces with different outer diameters; the principle is reliable, the structure is simple, the operation is convenient, and the task of clamping workpieces with different outer diameters can be completed without changing the clamper, and the environmental adaptability is good. Safe and reliable.
Description
Technical field:
The invention belongs to robotic technology fields, are related to a kind of forging machine for being suitable for various outer diameter size cylindrical workpiece
Tool arm clamper, realization are quickly and reliably adjusted to clamper to forging machinery arm clamper and better adapt to difference
The cylindrical work of outer diameter improves the working efficiency of mechanical arm and forging machinery arm clamper is made to keep preferable mechanical property
Energy.
Technical background:
Forging is since the unfavorable factors such as high temperature, vibration, noise influence, and operating environment is poor, large labor intensity, compels to be essential
Realize mechanization, the automation of production process.With developing for forging industry, traditional large free forging device layout point
It dissipates, utilization rate is low, automatic and mechanical degree is low etc., and production status can no longer meet its demand for development.Mechanical arm is used as can
The componental movement and function and the automation equipment that is operated according to pre-provisioning request for imitating people's upper limb, can replace the numerous of manpower
Heavy work mitigates labor intensity of workers, improves production efficiency and automatization level, is widely used in the industrial production.
The correlative study of mechanical arm clamper is concentrated mainly in recent years in terms of improving clamper kinetic characteristic and kinetic characteristics.
201721427921.1 disclose a kind of fruits picking mechanical arm, including control-rod, pedestal, bracket, the first rotating bar, second turn
Lever and clamping part, pedestal lower end connecting bracket, bracket are equipped with handle, and pedestal is equipped with through-hole, and control-rod can slide up and down
Be mounted in through-hole, the first rotating bar and the second rotating bar lower end are hinged with the otic placode of pedestal two sides respectively, first connecting rod
One end and the first rotating bar it is hinged, one end of the second connecting rod and the second rotating bar are hinged, the other end of first connecting rod and
The other end of second connecting rod and the upper end of control-rod are hinged, and the upper end of the first rotating bar and the second rotating bar is separately connected folder
Portion is held, which is suitble to one man operation, and using flexible will not damage fruit tree；201720443449.4 disclosing one
Kind is used for the manipulator clamping device of robot, including mechanical arm, is fixedly connected with rotating hydraulic cylinder on the mechanical arm, described
Rotating hydraulic cylinder is fixedly connected with connecting plate far from the side of mechanical arm, and rotating hydraulic cylinder passes through far from the side of mechanical arm
Connecting plate is connected with manipulator, and the manipulator includes upper lever and lower lever, and one end of the upper lever and lower lever is logical
It crosses pin shaft to be hinged on connecting plate, voussoir is hinged with by pin shaft on the connecting plate, the side of the rotating hydraulic cylinder is equipped with
The other side of left end cap, the rotating hydraulic cylinder is equipped with right end cap.This is used for the manipulator clamping device of robot, structure letter
Single, cost is lower, and clamping article is relatively stable, good clamping effect, solves the existing manipulator for robot and presss from both sides
Device is held, structure is complicated, and cost is higher, and the problem that clamping stability is lower, use easy to spread.
Since forging machinery arm will face the workpiece of various different specification sizes in actual use, with the same folder
Holder complete all working be it is infeasible, currently used method is that different mechanical arms is replaced according to different workpiece sizes
Clamper, but this will definitely increase non-cutting time and production cost, reduce production efficiency, 201620294351.2 disclose one kind
Mechanical arm clamper with adaptive ability, including lower bottom base and upper bed-plate；Driving device is equipped in lower bottom base；On upper bed-plate
If fixed on mounting plate there are two clamp assemblies there are two opposite mounting plate；Driving device includes being fixed in lower bottom base
Motor, and the gear set being connected to motor；Clamp assemblies include being connected to matching between two mounting plates with gear set
The transmission shaft of conjunction, and it is connected to the gear shaft matched between two mounting plates and with transmission shaft；Transmission shaft and gear shaft are horizontal
To be arranged side by side；It is connected with left clamp arm on gear shaft, right clamp arm is connected on transmission shaft, has certain adaptive ability, benefit
With the reasonable cooperation of clamping limb and spring, driving motor, it can clamp, move multiple types object, if basic configuration is rectangular
Body, the object that cross section is circular object and the irregular shape containing certain internal diameter hole；201720434338.7 public
A kind of adaptive automation tool hand structure is opened, including the position slide unit being located on mechanical arm, the position slide unit is far from mechanical
Arm side is equipped with bidirectional hydraulic oil cylinder, and two output ends of the bidirectional hydraulic oil cylinder are fixedly connected to push rod, described in two
Push rod is oppositely arranged, and the position slide unit is equipped with sliding slot corresponding with push rod, and two push rod opposite sides are far from sliding slot
One end of interior bottom is equipped with the first telescopic rod, and the side of the bidirectional hydraulic oil cylinder separate location slide unit is fixedly connected with support
Block, there are two the clamp holder being staggered, one of them described clamp holder and first rotating shafts by first rotating shaft connection for the supporting block
It is fixedly connected, another described clamp holder and first rotating shaft rotation connection, structure is simple, and operation is easy, and by multidirectional
Clamping device clamps simultaneously, improves the holding capability of device, improves the production efficiency of factory.But above-mentioned mechanical arm folder
Holder is not able to satisfy requirement of the forging machinery arm to clamper.Workpiece clamped by forging machinery arm is high with temperature, weight is big,
Outer diameter variation greatly the features such as, it is therefore desirable to which forging machinery arm clamper must have, safety is good, high reliablity, clamping
The features such as power is big, adaptable, easy to adjust.
Therefore, seek to design a kind of safe and reliable and easy to adjust various outer diameter size cylindrical workpiece that is suitable for
Forging machinery arm clamper changes slide position by rotating crank axis and fixes to change left side clamp arm and right side clamp arm
Hinge point position, to adapt to the cylindrical work of clamping various outer diameter size.
Summary of the invention:
It is an object of the invention to overcome disadvantage of the existing technology, design provides one kind and is suitable for various outer diameter size
The forging machinery arm clamper of cylindrical work, using by hydraulic cylinder piston rod, left side connecting rod, right side connecting rod, left side clamp arm,
The plane six-bar linkage that right side clamp arm and support plate as rack collectively constitute realizes that compression hydraulic cylinder driving piston rod is past
It is multiple mobile, to realize clamp arm reciprocally swinging and the function of workpiece is clamped and loosened by V-type gripping block；Using by crank
Two groups of full symmetric slider-crank mechanisms that axis, small rod, sliding block and support plate form, realization are changed by rotating crank axis
Slide position is to change left side clamp arm and right side clamp arm fixed hinge point position, to adapt to clamping various outer diameter size
The function of cylindrical work.
To achieve the goals above, the main structure of mechanical arm clamper of the present invention includes compression hydraulic cylinder, clamps
Hydraulic cylinder piston rod, the connector of compression hydraulic cylinder, the pin shaft of connector, the pin shaft of connecting rod, left side connecting rod, right side connecting rod,
Left side clamp arm, the pin shaft of clamp arm, the soket head cap screw of sliding block, the soket head cap screw of gripping block, sliding block pin
Axis, sliding block, crank axle, the pin shaft of small rod, small rod, V-type gripping block, right side clamp arm, support plate, compression hydraulic cylinder are used
Screw, the circlip of axis, deep groove ball bearing, compression hydraulic cylinder hexagon thin nut；Front and back foot type compression hydraulic cylinder
It is connected on steel-made support plate by the screw of compression hydraulic cylinder, clamping hydraulic cylinder piston rod, steel compression hydraulic cylinder
Connector is linked together by the hexagon thin nut of two compression hydraulic cylinders；The connector of compression hydraulic cylinder passes through connector
Pin shaft is hinged with left side connecting rod, right side connecting rod respectively；Left side connecting rod, left side clamp arm and right side connecting rod, right side clamp arm point
It is not hinged by the pin shaft of connecting rod；Left side clamp arm, right side clamp arm pass through the pin shaft of clamp arm and one respectively
Group sliding block is hinged, fixed hinge point of the hinge point as forging machinery arm clamper；There are two being set in every group of sliding block
The sliding block long slot hole of horizontal direction parallel is mounted on the soket head cap screw of sliding block in each sliding block long slot hole, support plate
End is equipped with the slideway of horizontal direction, and bearing hole is equipped in slideway, and two groups of sliding blocks are solid by the soket head cap screw of sliding block respectively
It is connected in the slideway of support plate；Deep groove ball bearing is mounted in the bearing hole of steel-made support plate, and crank axle is mounted on deep-groove ball axis
In holding；Crank axle and small rod are hinged by the pin shaft of small rod；Two groups of sliding blocks respectively with the pin shaft of sliding block with
Two groups of small rods are hinged, and realize axial restraint with the circlip for shaft that spring steel makes；Two V-types made of heat resisting steel
Gripping block is affixed on the right side of left side clamp arm and steel on clamp arm with the soket head cap screw of two groups of gripping blocks respectively；Clamp liquid
Cylinder pressure drives clamping hydraulic cylinder piston rod to move back and forth, past by clamping hydraulic cylinder piston rod by left side connecting rod, right side connecting rod
Multiple mobile left side clamp arm and the right side clamp arm of being converted to is around the reciprocally swinging of respective fixed hinge point and by the left of being mounted on
V-type gripping block on clamp arm and right side clamp arm clamps and loosens workpiece；Unclamp sliding block soket head cap screw when, sliding block with
Crank axle, small rod and support plate form two full symmetric slider-crank mechanisms, change sliding block by rotating crank axis and exist
Position in support plate slideway, to change the fixed hinge point position of left side clamp arm and right side clamp arm, to adapt to clamp
The function of the cylindrical work of various outer diameter size.
Forging machinery arm clamper of the present invention is connected to forging machinery arm by the soket head cap screw of support plate and stretches
It is used on slide plate in compression apparatus, the structure of forging machinery arm telescopic device includes mechanical arm crossbeam, transverse shifting hydraulic cylinder, cross
To the screw of mobile hydraulic cylinder, guide rail, the soket head cap screw of guide rail, transverse shifting hydraulic cylinder piston rod, transverse shifting liquid
Hexagon thin nut, the slide plate of cylinder pressure；Front and back foot type transverse shifting hydraulic cylinder is connected with the screw of four transverse shifting hydraulic cylinders
It connects on mechanical arm crossbeam；The thin spiral shell of hexagonal that transverse shifting hydraulic cylinder piston rod, slide plate pass through two transverse shifting hydraulic cylinders
Mother links together；Two groups of guide rails are linked together by the soket head cap screw of two groups of guide rails with mechanical arm crossbeam；Slide plate peace
Prismatic pair is formed in guide rail and together, transverse shifting Driven by Hydraulic Cylinder transverse shifting hydraulic cylinder piston rod and slide plate are in cast iron
The Telescopic for realizing mechanical arm clamper is moved back and forth in guide rail.
When the invention works, the soket head cap screw of two sliding blocks in two side slides, two long slot holes, root are unclamped first
Corresponding angle is turned over according to clamped cylindrical work outer diameter rotating crank axis, sliding block is changed by small rod and is being supported
Position in plate slideway makes sliding block be in best operational position, and two sliding blocks then tightened in two side slides, two long slot holes are used
Soket head cap screw, sliding block is fixed in the slideway of support plate complete clamper adjustment work；It is forged after completing above-mentioned work
It makes mechanical arm and enters normal operating conditions, compression hydraulic cylinder drives clamping hydraulic cylinder piston rod to move back and forth, and driving left side clamps
Arm and right side clamp arm are around respective fixed hinge point reciprocally swinging and the V by being mounted on left side clamp arm and right side clamp arm
Type gripping block clamps and loosens workpiece.
The present invention is moved back and forth using compression hydraulic cylinder driving clamping hydraulic cylinder piston rod, clamping hydraulic cylinder piston rod and folder
The connector of tight hydraulic cylinder is linked together by the hexagon thin nut of two compression hydraulic cylinders, and left and right side connecting rod is by connecing
Head and pin shaft link together and form hinges, are turned the reciprocating movement of clamping hydraulic cylinder piston rod by left and right side connecting rod
The chemical conversion left side reciprocally swinging of clamp arm and right side clamp arm around respective fixed hinge point and the V-type by being mounted on clamp arm
Gripping block clamps and loosens workpiece；The fixed hinge of left side clamp arm and right side clamp arm is by clamp arm and corresponding cunning
What block and pin shaft formed, and sliding block is connected by the soket head cap screw for two sliding blocks being mounted in two long slot holes of sliding block
In support plate slideway；When unclamping the soket head cap screw of two sliding blocks in two long slot holes, sliding block and crank axle, little Lian
Bar and support plate form two full symmetric slider-crank mechanisms, and rotating crank axis can change sliding block in support plate slideway
Position, to change left side clamp arm and right side clamp arm fixed hinge point position, to adapt to clamping various outer diameter size
Cylindrical work.
Compared with prior art, the present invention realizing the clamping function to cylindrical work using Driven by Hydraulic Cylinder six-bar mechanism
Can, the position of six-bar mechanism fixed hinge point is adjusted, using two groups of full symmetric slider-crank mechanisms to adapt to various outer diameter
The cylindrical work of size, when improving clamping various outer diameter (workpiece outside diameter d=200mm~260mm) workpiece, mechanical arm clamper
The reliability of work, reduces non-cutting time, improves production efficiency the force-bearing situation for improving clamped workpiece；Its principle is reliable, knot
Structure is simple, easy to operate, and clamping task to various outer diameter workpiece, environmental suitability can be completed by not needing replacement clamper
It is good, securely and reliably.
Detailed description of the invention:
Fig. 1 is main structure schematic illustration of the invention.
Main body sectional structure schematic illustration Fig. 2 of the invention.
Fig. 3 is the top view of present invention mounting structure principle in forging machinery arm.
Specific embodiment:
It is further described with reference to the accompanying drawing and by embodiment to the present invention.
Embodiment:
The main structure of mechanical arm clamper described in the present embodiment include compression hydraulic cylinder 1, clamping hydraulic cylinder piston rod 2,
The connector 3 of compression hydraulic cylinder, the pin shaft 4 of connector, the pin shaft 5 of connecting rod, left side connecting rod 6, right side connecting rod 7, left side clamp
Arm 8, the pin shaft 9 of clamp arm, the soket head cap screw 10 of sliding block, the soket head cap screw 11 of gripping block, sliding block pin shaft
12, sliding block 13, crank axle 14, the pin shaft 15 of small rod, small rod 16, V-type gripping block 17, right side clamp arm 18, support plate
19, the circlip 21 of the screw 20, axis of compression hydraulic cylinder, deep groove ball bearing 22, compression hydraulic cylinder the thin spiral shell of hexagonal
Mother 32；Front and back foot type compression hydraulic cylinder 1 is connected on steel-made support plate 19 by the screw 20 of compression hydraulic cylinder, clamping hydraulic
Cylinder piston rod 2, steel compression hydraulic cylinder connector 3 be connected to one by the hexagon thin nut 32 of two compression hydraulic cylinders
It rises；The connector 3 of compression hydraulic cylinder is hinged with left side connecting rod 6, right side connecting rod 7 respectively by the pin shaft 4 of connector；Left side connecting rod
6, left side clamp arm 8 and right side connecting rod 7, right side clamp arm 18 are hinged by the pin shaft of connecting rod 5 respectively；Left side folder
Tight arm 8, right side clamp arm 18 are hinged by the pin shaft of clamp arm 9 and one group of sliding block 13 respectively, the hinge point conduct
The fixed hinge point of forging machinery arm clamper；The sliding block long slot hole there are two horizontal direction parallel is set in every group of sliding block 13, often
The soket head cap screw 10 of sliding block is mounted in a sliding block long slot hole, the end of support plate 19 is equipped with the slideway of horizontal direction,
Bearing hole is equipped in slideway, two groups of sliding blocks 13 are connected in the slideway of support plate 19 by the soket head cap screw of sliding block 10 respectively
In；Deep groove ball bearing 22 is mounted in the bearing hole of steel-made support plate 19, and crank axle 14 is mounted in deep groove ball bearing 22；Crank
Axis 14 is hinged by the pin shaft 15 of small rod with small rod 16；Two groups of sliding blocks 13 respectively with the pin shaft of sliding block 12 with
Two groups of small rods 16 are hinged, and realize axial restraint with the circlip for shaft 21 that spring steel makes；Two made of heat resisting steel
A V-type gripping block 17 is affixed on the right side of left side clamp arm 8 and steel with the soket head cap screw 11 of two groups of gripping blocks clamps respectively
On arm 18；Compression hydraulic cylinder 1 drives clamping hydraulic cylinder piston rod 2 to move back and forth, and will be clamped by left side connecting rod 6, right side connecting rod 7
The reciprocating movement of hydraulic cylinder piston rod 2 is converted to left side clamp arm 8 and right side clamp arm 18 around the reciprocal of respective fixed hinge point
It swings and passes through the V-type gripping block 17 being mounted on left side clamp arm 8 and right side clamp arm 18 and clamp and loosen workpiece；It unclamps and slides
When the soket head cap screw 10 of block, sliding block 13 and crank axle 14, small rod 16 and support plate 19 form two full symmetric songs
Handle slide block mechanism, rotating crank axis 14 can change position of the sliding block 13 in 19 slideway of support plate, clamp to change left side
The fixed hinge point position of arm 8 and right side clamp arm 18, to adapt to the function of the cylindrical work of clamping various outer diameter size.
Forging machinery arm clamper described in the present embodiment is connected to forging machinery by the soket head cap screw 31 of support plate
It is used on slide plate 30 in arm telescopic device, the structure of forging machinery arm telescopic device includes mechanical arm crossbeam 23, transverse shifting
Hydraulic cylinder 24, the screw 25 of transverse shifting hydraulic cylinder, guide rail 26, the soket head cap screw 27 of guide rail, transverse shifting hydraulic cylinder
Piston rod 28, the hexagon thin nut 29 of transverse shifting hydraulic cylinder, slide plate 30；Front and back foot type transverse shifting hydraulic cylinder 24 is with four
The screw 25 of transverse shifting hydraulic cylinder is connected on mechanical arm crossbeam 23；Transverse shifting hydraulic cylinder piston rod 28, slide plate 30 are logical
The hexagon thin nut 29 for crossing two transverse shifting hydraulic cylinders links together；Two groups of guide rails 26 pass through interior the six of two groups of guide rails
Angle screw 27 links together with mechanical arm crossbeam 23；Slide plate 30 is mounted in guide rail 26 and forms together prismatic pair, laterally moves
Hydrodynamic cylinder pressure 24 drives transverse shifting hydraulic cylinder piston rod 28 and slide plate 30 to move back and forth in machine with cast track 26 and realizes mechanical arm
The Telescopic of clamper.
When the present embodiment needs to be adjusted clamper according to production requirement, two side slides, 13 two elongated slots are unclamped first
The soket head cap screw 10 of two sliding blocks in hole is turned over according to clamped cylindrical work outer diameter rotating crank axis 14
Corresponding angle, changing position of the sliding block 13 in 19 slideway of support plate by small rod 16 makes sliding block 13 be in best effort position
It sets, then tightens the soket head cap screw 10 of two sliding blocks in two side slides, 13 two long slot holes, sliding block 13 is fixed on branch
The adjustment work of clamper is completed in the slideway of fagging 19；Forging machinery arm enters normal operating conditions after completing above-mentioned work,
Compression hydraulic cylinder 1 drives clamping hydraulic cylinder piston rod 2 to move back and forth, and driving left side clamp arm 8 and right side clamp arm 18 are around respective
Fixed hinge point reciprocally swinging and by be mounted on left side clamp arm 8 and right side clamp arm 18 on V-type gripping block 17 clamp and
Loosen workpiece.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810650114.9A CN109047615B (en) | 2018-06-22 | 2018-06-22 | A kind of forging machinery arm clamper being suitable for various outer diameter size cylindrical workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810650114.9A CN109047615B (en) | 2018-06-22 | 2018-06-22 | A kind of forging machinery arm clamper being suitable for various outer diameter size cylindrical workpiece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109047615A true CN109047615A (en) | 2018-12-21 |
| CN109047615B CN109047615B (en) | 2019-09-10 |
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|---|---|---|---|
| CN201810650114.9A Expired - Fee Related CN109047615B (en) | 2018-06-22 | 2018-06-22 | A kind of forging machinery arm clamper being suitable for various outer diameter size cylindrical workpiece |
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