CN112676522A

CN112676522A - Suspension system of forging manipulator

Info

Publication number: CN112676522A
Application number: CN202011614697.3A
Authority: CN
Inventors: 金华; 刘力; 杨宇; 柯其棠
Original assignee: Daye Special Steel Co Ltd
Current assignee: Daye Special Steel Co Ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2021-04-20

Abstract

The invention provides a forging manipulator suspension system, which comprises: the main shaft extends along the left and right directions, and a rack of the forging manipulator limits the connecting rod assembly along the left and right directions; the hollow suspension arm is sleeved on the main shaft and is fixedly connected with the main shaft, the number of the grid sections is two, two ends of the hollow suspension arm are respectively abutted against the two grid sections, the grid sections are tightly clamped between the end part of the hollow suspension arm and the side wall corresponding to the end part, and the hollow suspension arm is respectively matched with two side arms so as to respectively clamp the two grid sections along the left and right directions. The problem of the cylinder of the lift cylinder produce interference and striking with the forging manipulator is solved, do benefit to the life who prolongs forging manipulator and lift cylinder. The problem of suspension system take place to go up and down asynchronously and crooked is solved, when making the forging stock of forging, keep silent the location accurate, reduce the emergence of the quality problems such as beat partially, improve and forge processingquality.

Description

Suspension system of forging manipulator

Technical Field

The invention belongs to the technical field of forging equipment, and particularly relates to a hanging system of a forging manipulator.

Background

The forging manipulator realizes the functions of clamping, advancing, retreating, lifting, rotating and translating a forging material, and is one of important indispensable equipment in automatic forging operation. The hanging system is positioned in the middle of the forging manipulator, a plurality of parallel hinge four-bar mechanisms, a rotating lever and a plurality of hydraulic oil cylinders are combined and linked, high-pressure hydraulic oil provides a power source, and main actions of parallel lifting, up-down inclination, left-right lateral movement, left-right lateral swinging, buffering balance and the like of the clamp rod are completely realized under the control of a computer so as to meet the requirements of a forging process.

The hanging system mainly bears the acting forces of stretching, compression and rotation in the process of forging the billet and the gravity of the jaw, the main shaft and the forging material, and is the most frequent part of the forging manipulator which is most easily damaged. Two ends of a main shaft in the hanging system are respectively connected with a driving rod of the horizontal lifting oil cylinder. The main shaft is connected with the caliper body through the grate bars, the connecting points of the grate bars and the main shaft are the suspension points of the caliper body and the forging material, and the main shaft is used for transmitting the action of the horizontal lifting oil cylinder to the caliper body. The hanging system further comprises a connecting rod assembly, wherein the connecting rod assembly is a U-shaped piece and is formed by connecting two L-shaped piece flanges with the same structure.

When the forging manipulator clamps a forging material to forge, a jaw needs to rotate (round forging or surface adjustment), and due to the adoption of a free forging mode, when the forging material does not stop rotating, a hammer head on the forging manipulator presses the forging material to cause the forging material to rotate and stop suddenly usually in order to improve the production efficiency. The reaction force of the forging material acts on the jaw and is transmitted to the main shaft through the grate bars to cause the axial movement of the main shaft. The axial movement of the main shaft causes the driving rod of the horizontal lifting oil cylinder to vibrate radially. Firstly, the radial vibrations of the driving rod of the lift cylinder cause: the driving rod of the horizontal lifting oil cylinder is eccentric, the cylinder barrel is impacted, the sealing of the horizontal lifting oil cylinder fails, and oil leaks. Secondly, the radial vibration of the driving rod of the horizontal lifting oil cylinder can cause the driving rod of the horizontal lifting oil cylinder to generate bending deformation. The two factors can cause the service life of the horizontal lifting oil cylinders on the two sides to be shortened, and the lifting and the falling are asynchronous, so that the flange and the flange bolt of the connecting rod assembly are seriously damaged, the hollow suspension arm sleeved with the main shaft and the main shaft is inclined in serious conditions, the jaw is inclined, and the forging quality is influenced.

Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.

Disclosure of Invention

The invention aims to provide a suspension system of a forging manipulator, which aims to solve the problems that the axial movement of a main shaft is easily caused by the sudden stop of the rotation of a forging material of the forging manipulator in the prior art, and the service life of a lifting oil cylinder is shortened and the forging quality is influenced because the axial movement of the main shaft occurs.

In order to achieve the above purpose, the invention provides the following technical scheme:

a forging manipulator hoist system comprising:

the main shaft extends along the left-right direction, and two end parts of the main shaft are respectively connected with the horizontal lifting oil cylinders on two sides of the forging manipulator through connecting pieces;

the connecting rod assembly comprises a U-shaped part, the U-shaped part comprises a bottom arm and two side arms which are oppositely arranged, shaft holes are formed in the two side arms, the shaft holes are used for the main shaft to penetrate through, and the connecting rod assembly is limited by a rack of the forging manipulator along the left and right directions;

the hollow suspension arm is sleeved on the main shaft and is fixedly connected with the main shaft;

the number of the grid bars is two, the upper end parts of the grid bars are sleeved on the main shaft, and the lower end parts of the grid bars are connected with the clamp rods of the forging manipulator;

the hollow suspension arm and the two grid sections are arranged between the two side arms, two ends of the hollow suspension arm are respectively abutted against the two grid sections, the grid sections are clamped between the end part of the hollow suspension arm and the corresponding side arm, and the hollow suspension arm is respectively matched with the two side arms so as to respectively clamp the two grid sections along the left and right directions.

Furthermore, the hanging system also comprises a positioning pin;

a through hole is formed in the hollow suspension arm, and a mounting hole is formed in the main shaft corresponding to the through hole;

the positioning pin is inserted into the mounting hole and the through hole, so that the hollow suspension arm is fixedly connected with the main shaft.

Furthermore, the hollow suspension arm is provided with a radial protrusion, and the through hole is formed in the radial protrusion.

Further, the radial protrusion is an annular protrusion.

Further, the end part of the hollow suspension arm is a thickened part with a thickened wall thickness.

Further, the positioning pin is provided with a head part which is expanded in the radial direction, the head part is provided with a light hole, and the axis of the light hole is parallel to the axis of the positioning pin;

a fixing threaded hole is formed in the hole edge of the mounting hole, and the unthreaded hole corresponds to the fixing threaded hole;

the hanging system further comprises a fixing bolt, and the fixing bolt penetrates through the unthreaded hole and is in threaded connection with the fixing threaded hole, so that the fixing of the positioning pin and the hollow suspension arm is realized;

preferably, the through hole is a counterbore to accommodate the head.

Further, the positioning pin is provided with a head part which is expanded in the radial direction, and the through hole is a counter bore to accommodate the head part;

the head is provided with a top threaded hole, the axis of the top threaded hole is parallel to the axis of the positioning pin, a top bolt is installed in the top threaded hole, and the top bolt abuts against the hollow suspension arm when feeding so as to eject the head out of the counter bore.

Further, the diameter of the positioning pin ranges from 40 mm to 60 mm.

Furthermore, the connecting rod assembly is formed by butt joint of two L-shaped pieces, each L-shaped piece comprises a side arm and a partial bottom arm, the two L-shaped pieces are connected through flanges, and the connecting rod assembly further comprises a flange shaft sleeve, and the flange shaft sleeve is arranged between a flange bolt and the hole wall of the flange hole.

Further, the connecting piece is rod end joint bearing, rod end joint bearing includes:

the rolling ball is sleeved and fixed on the main shaft;

the bearing sleeve is sleeved on the rolling ball and is in rolling fit with the rolling ball;

the outer ring is sleeved and fixed on the bearing sleeve;

the outer ring and the rod end are fixedly connected or integrally formed, and the rod end is fixedly connected with a driving rod of the horizontal lifting oil cylinder;

the hanging system also comprises a blank cap, the edge of the blank cap is fixedly connected with the outer ring, the blank cap is provided with an annular abutting part, and the annular abutting part abuts against the bearing sleeve to prevent the bearing sleeve from axially moving;

preferably, an accommodating cavity is formed in the annular abutting part, a spherical hinge baffle is arranged in the accommodating cavity and fixed at the end part of the main shaft through a threaded fastener, and the edge of the spherical hinge baffle is in stop fit with the rolling ball to prevent the rolling ball from axially moving.

Compared with the closest prior art, the technical scheme provided by the invention at least has the following beneficial effects:

1) the problem of the cylinder of the lift cylinder produce interference and striking with the forging manipulator is solved, do benefit to the life who prolongs forging manipulator and lift cylinder.

2) The problem of suspension system take place to go up and down asynchronously and crooked is solved, the problem that flange bolt and flange axle sleeve were cut off or obviously warp has been solved. When forging and forging the forging material, the jaw is accurately positioned, the quality problems such as deviation are reduced, and the forging processing quality is improved.

3) The eccentric force on the driving rod of the horizontal lifting oil cylinder is avoided, and the service life of the shaft seal of the horizontal lifting oil cylinder is obviously prolonged.

4) The horizontal lifting oil cylinders are not affected by the oil supply sequence, resistance and good sealing, synchronous lifting of the two horizontal lifting oil cylinders is realized, and the hanging system is more stable.

5) The wall thickness thickening part increases the area of the axial positioning matching surface of the hollow suspension arm and the grate bar, and can better avoid the hollow suspension arm and the grate bar from being damaged due to stress concentration.

6) The blank cap and the spherical hinge baffle are respectively used for blocking the bearing sleeve and the rolling ball to prevent the rod end joint bearing from moving along the axial direction of the main shaft.

7) The diameter of the positioning pin is 50mm, so that the positioning pin can bear large shearing force and is not easy to deform or even cut off, and the reliable work of the hanging system is ensured.

8) The flange axle sleeve can reduce the emergence of the condition that the flange bolt was cut, further guarantees the quality of forging processing, in addition, if the flange axle sleeve was cut, was cut for the flange bolt, and the flange axle sleeve is taken out from the flange hole more easily, reduces the maintenance degree of difficulty, promotes maintenance efficiency.

9) The top-mounted bolt is convenient for taking out the positioning pin, the difficulty of disassembly and maintenance is reduced, and the maintenance efficiency is ensured.

10) The fixing bolt can fix the positioning pin in the through hole and the mounting hole, and the positioning pin can be guaranteed to reliably realize functions by relying on the self gravity of the positioning pin.

11) The annular bulge increases the structural strength of the installation part of the positioning pin of the hollow suspension arm, and prevents the hollow suspension arm from being torn due to the stress transmitted by the positioning pin.

12) The annular bulge is simple in structure, convenient to process and good in structural strength.

13) The positioning of the hollow suspension arm and the main shaft is realized through the positioning pin, the structure is simple, and the work is reliable. The positioning pin is arranged on the hollow suspension arm and is arranged on the side arm relative to the positioning pin, and the hollow suspension arm is provided with a space capable of arranging the large-diameter positioning pin, so that the positioning pin is more difficult to damage and cut off, and the reliable work of the positioning pin is ensured.

Drawings

FIG. 1 is an assembly view of an embodiment of a hanger system of a forging manipulator of the present invention;

FIG. 2 is an enlarged view taken at A in FIG. 1;

FIG. 3 is an enlarged view at B of FIG. 1;

FIG. 4 is a schematic view of the annular projection of the hollow boom arm of FIG. 1; (ii) a

FIG. 5 is a schematic view of the closure of FIG. 1;

FIG. 6 is a top view of the locating pin of FIG. 1;

FIG. 7 is a schematic structural view of a connecting rod assembly of the hanger system of the forging manipulator of the present invention;

fig. 8 is a schematic structural view of the flange of fig. 7.

In the figure: 1. covering the blank with a cover; 101. a grease injection hole; 102. an annular abutting portion; 2. a rod end oscillating bearing; 201. a rolling ball; 202. a bearing housing; 203. an outer ring; 204. a rod end; 3. a connecting rod assembly; 301. an L-shaped piece; 3011. a bottom arm; 3012. a side arm; 302. a bearing seat; 303. a flange; 3031. a flange bolt; 3032. a flange hole; 3033. a flange shaft sleeve; 4. a spherical hinge baffle plate; 5. grid section; 6. positioning pins; 601. a head portion; 6011. a light hole; 6012. jacking and installing a threaded hole; 7. a hollow suspension arm; 701. an annular projection; 7011. a counter bore; 7012. fixing the threaded hole; 702. a wall thickness thickening portion; 8. a main shaft; 9. and a horizontal lifting oil cylinder.

Detailed Description

The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.

The specific embodiment of the hanging system of the forging manipulator comprises the following steps: in the embodiment of the present application, the extending direction of the main shaft is defined as the left-right direction of the forging manipulator, and the up-down direction in the actual working environment is defined as the up-down direction of the forging manipulator.

As shown in FIG. 1, the suspension system of the forging manipulator comprises a main shaft 8, a connecting rod assembly 3, a hollow suspension arm 7, a positioning pin 6, a grate bar 5, a rod end joint bearing 2, a blank cap 1 and a spherical hinge baffle 4. The rod end joint bearing 2, the connecting rod component 3, the hollow suspension arm 7 and the grate bar 5 are all sleeved on the main shaft 8.

As shown in fig. 3, the main shaft 8 extends in the left-right direction, and both end portions of the main shaft 8 are connected to the lift cylinders 9 on both sides of the forging manipulator via the rod end joint bearings 2, respectively, and the rod end joint bearings 2 constitute connecting members. In this embodiment, the rod end joint bearing 2 includes a rolling ball 201, a bearing housing 202, an outer ring 203, and a rod end 204, specifically: the rolling ball 201 is sleeved and fixed on the main shaft 8; the bearing sleeve 202 is sleeved on the rolling ball 201 and is in rolling fit with the rolling ball 201. The outer ring 203 is sleeved and fixed on the bearing sleeve 202. The outer ring 203 is integrally formed with a rod end 204, and the rod end 204 is threadedly connected with the output rod of the horizontal lifting cylinder 9, so that the rod end 204 is fixed on the output rod of the horizontal lifting cylinder 9. In other embodiments, the outer ring 203 and the rod end 204 may be fixedly connected, such as welded. The rod end joint bearing 2 is arranged for compensating the axial deviation of the driving rod of the horizontal lifting oil cylinder 9, so that the horizontal lifting oil cylinder 9 is not stressed and is not subjected to unbalance loading, the driving rod of the horizontal lifting oil cylinder 9 is not bent, and the service life of an oil cylinder shaft seal is ensured.

The fixed connection form of the rod end joint bearing 2 and the driving rod of the horizontal lifting oil cylinder 9 is as follows: the rod end 204 is provided with an internal threaded hole, the front end part of the driving rod of the horizontal lifting oil cylinder 9 is an external threaded part, and the external threaded part is in threaded fit with the internal threaded hole to realize the fixed connection of the rod end joint bearing 2 and the output rod of the horizontal lifting oil cylinder 9.

As shown in fig. 5, the blank cap 1 is disposed outside the outer ring 203, and the edge of the blank cap is fixedly connected to the outer ring 203 through a bolt, the blank cap 1 has an annular abutting portion 102, and the annular abutting portion 102 abuts against the bearing sleeve 202 to prevent the bearing sleeve 202 from moving axially. The middle part of the blank cap 1 is provided with a grease injection hole 101 along the axial direction, and grease can be injected into the rod end joint bearing 2 through the grease injection hole 101, so that the rod end joint bearing 2 can work smoothly. An accommodating cavity is formed in the annular abutting part 102, a spherical hinge baffle 4 is arranged in the accommodating cavity, the spherical hinge baffle 4 is fixed at the end part of the main shaft 8 through a threaded fastener, and the edge of the spherical hinge baffle 4 is in stop fit with the rolling ball 201 to prevent the rolling ball 201 from moving axially. The blank cap 1 is matched with the spherical hinge baffle 4, so that the rod end joint bearing 2 does not axially move.

As shown in fig. 7, the connecting rod assembly 3 is a U-shaped member, the U-shaped member includes a bottom arm 3011 and two side arms 3012 arranged oppositely, and the two side arms 3012 are respectively provided with a shaft hole for the main shaft 8 to pass through, so as to realize the fixed connection between the main shaft 8 and the connecting rod assembly 3. The bearing block 302 is arranged on the outer side of the bottom arm 3011, the connecting rod assembly 3 is hinged to a frame of the forging manipulator through a hinge shaft in the bearing block 302, and the frame of the forging manipulator blocks the connecting rod assembly 3 along the left-right direction to limit the connecting rod assembly 3 along the left-right direction.

As shown in fig. 8, the connecting rod assembly 3 is formed by butting two L-shaped pieces 301, each L-shaped piece 301 comprises a side arm 3012 and a partial bottom arm 3011, a flange is arranged at one end of the partial bottom arm 3011 far away from the side wall 3012, the two L-shaped pieces 301 are connected by flanges, and the outer diameter of the flange 303 is 400 mm. The flange 303 further comprises a flange shaft sleeve 3033, and the flange shaft sleeve 3033 is arranged between the hole wall of the flange hole 3032 and the flange bolt 3031, so that the flange bolt 3031 is prevented from being cut off, and the flange connection is prevented from being failed. In addition, when the flange shaft sleeve 3033 is damaged due to excessive shearing force, compared with the condition that the flange bolt 3031 is damaged, the damaged flange shaft sleeve 3033 is easy to take out from the flange hole 3032, the maintenance difficulty and the maintenance time are reduced, and the maintenance efficiency is ensured.

As shown in fig. 2, the hollow boom 7 is a hollow structure, sleeved on the main shaft 8 and fixedly connected: the hollow suspension arm 7 is provided with a through hole, and the main shaft 8 is provided with a mounting hole corresponding to the through hole. The diameter range of the positioning pin is 40-60mm, optionally, the diameter of the positioning pin 6 is 50mm, and the positioning pin is inserted into the mounting hole and the through hole to realize the fixed connection of the hollow suspension arm 7 and the main shaft 8. In this embodiment, the hollow suspension arm 7 is provided with an annular protrusion 701, the through hole is formed in the annular protrusion 701, and the annular protrusion 701 forms a positioning pin mounting seat.

As shown in fig. 4 and 6, the dowel 6 has a radially enlarged head 601, the head 601 having a diameter of 98 mm. The through hole in the hollow boom 7 is a counter bore 7011 to receive the head 601 of the positioning pin 6. The head 601 is provided with light holes 6011, the number of the light holes 6011 is 4, and adjacent light holes 6011 are arranged at an interval of 90 °. The axis of the unthreaded hole 6011 is parallel to the axis of the positioning pin 6, a fixing threaded hole 7012 is formed in the main shaft 8 at the hole edge of the mounting hole, and the fixing threaded hole 7012 corresponds to the unthreaded hole 6011. The fixing bolt penetrates through the unthreaded hole 6011 and is connected with the fixing threaded hole 7012, and the fixing of the positioning pin 6 and the hollow suspension arm 7 is achieved.

The head 601 is further provided with top-mounted threaded holes 6012, and the number of the top-mounted threaded holes 6012 is 2 and the top-mounted threaded holes 6012 are symmetrically arranged. The axis of the top-mounted threaded hole 6012 is parallel to the axis of the positioning pin 6, a top-mounted bolt is mounted in the top-mounted threaded hole 6012, and the top-mounted bolt abuts against the hollow suspension arm 7 when feeding so as to eject the head 601 out of the counter bore 7011, and the positioning pin 6 can be conveniently taken out.

The end of the hollow boom 7 is the stress concentration site, and the stress concentration site is designed as a wall thickness thickening portion 702 to increase the structural strength of the end and prevent the end of the hollow boom 7 from being damaged.

The number of the grid sections 5 is two, the upper end parts of the grid sections 5 are all sleeved on the main shaft 8, and the lower end parts of the grid sections are connected with the clamp rod of the forging manipulator. The purpose is to transmit the motion of a horizontal lifting oil cylinder 9 to a clamp rod through a main shaft 8, a rod end joint bearing 2 and a grate 5.

As shown in fig. 1, the hollow suspension arm 7 and the grate 5 are both disposed between the two side arms 3012, the two grate 5 are respectively disposed at two ends of the hollow suspension arm 7, and the hollow suspension arm 7 is respectively matched with the two side arms 3012 to respectively clamp the two grate 5 in the left-right direction.

Because the connecting rod assembly 3 is positioned by the frame of the forging manipulator in the left-right direction, the connecting rod assembly 3 and the hollow boom 7 are arranged between the two side arms 3012 of the connecting rod assembly 3 and are clamped by the two side arms 3012 of the connecting rod assembly 3, the positions of the connecting rod assembly 3 and the hollow boom 7 can be positioned in the left-right direction, and the connecting rod assembly 3 and the hollow boom 7 are prevented from moving on the main shaft 8. The hollow suspension arm 7 and the main shaft 8 are fixed through the positioning pin 6 to form an integral structure, and the main shaft 8 is positioned along the left-right direction because the hollow suspension arm 7 is positioned along the left-right direction.

When the reaction force of the forge piece acts on the jaw and is transmitted to the main shaft 8 through the grate bars 5, the grate bars 5 and the main shaft 8 are positioned along the left and right directions, and the main shaft 8 cannot axially move, so that the subsequent problem caused by the movement of the main shaft 8 is solved.

The invention is mainly used for 20MN fast forging operation machines, and can be used for forging operation machines of other models according to actual requirements.

In summary, compared with the prior art, the suspension system of the forging manipulator adopted by the invention has the following technical effects:

The invention is not to be considered as limited to the particular embodiments shown, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. Forging manipulator suspension system, its characterized in that: the method comprises the following steps:

2. The forging manipulator hoist system of claim 1, wherein: the hanging system also comprises a positioning pin;

3. The forging manipulator hoist system of claim 2, wherein: the hollow suspension arm is provided with a radial bulge, and the through hole is formed in the radial bulge.

4. The forging manipulator hoist system of claim 3, wherein: the radial protrusion is an annular protrusion.

5. The forging manipulator hoist system of claim 1, wherein: the end part of the hollow suspension arm is a thickened part with the wall thickness.

6. The forging manipulator hoist system of claim 2, wherein: the positioning pin is provided with a head part which is expanded in the radial direction, the head part is provided with a light hole, and the axis of the light hole is parallel to the axis of the positioning pin;

preferably, the through hole is a counterbore to accommodate the head.

7. The forging manipulator hoist system of claim 2, wherein: the positioning pin is provided with a head part which is expanded in the radial direction, and the through hole is a counter bore to accommodate the head part;

8. The forging manipulator hoist system of claim 2, wherein: the diameter range of the positioning pin is 40-60 mm.

9. The forging manipulator hoist system of claim 1, wherein: the connecting rod assembly is formed by butt joint of two L-shaped pieces, each L-shaped piece comprises a side arm and a partial bottom arm, the two L-shaped pieces are connected through flanges, and the connecting rod assembly further comprises a flange shaft sleeve, and the flange shaft sleeve is arranged between a flange bolt and the hole wall of a flange hole.

10. The forging manipulator hoist system of claim 1, wherein: the connecting piece is rod end joint bearing, rod end joint bearing includes:

the rolling ball is sleeved and fixed on the main shaft;

the outer ring is sleeved and fixed on the bearing sleeve;