CN115258703B

CN115258703B - Ring forging piece stacking device in ring forging piece automatic production line

Info

Publication number: CN115258703B
Application number: CN202211170106.7A
Authority: CN
Inventors: 吴君三; 宋立滨; 吴剑; 赖庆文; 马苏; 祁辉; 陆亚锋
Original assignee: Zhangjiagang Zhonghuan Sea And Land High End Equipment Co ltd; Tianjin Institute of Advanced Equipment of Tsinghua University
Current assignee: Zhangjiagang Zhonghuan Sea And Land High End Equipment Co ltd; Tianjin Institute of Advanced Equipment of Tsinghua University
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2022-12-30
Anticipated expiration: 2042-09-26
Also published as: CN115258703A

Abstract

The invention discloses a ring forging stacking device in an automatic ring forging production line, which comprises: the stacking platform, the overhead traveling crane, the cushion, the overhead traveling crane is programme-controlled overhead traveling crane, the place ahead at the stacking platform, the rear, the left side, the right side is fixed with the cushion support frame respectively, left side place ahead and the right rear of stacking platform are equipped with the cushion respectively and put the manipulator, put the cushion locating platform on every cushion support frame, be provided with between cushion locating platform and the cushion support frame and support positioning mechanism, be equipped with a plurality of location arch, lug on every cushion locating platform, put a plurality of cushion on every cushion locating platform, the cushion is the cylindric. In addition, the two cushion block placing manipulators are used for placing the cushion blocks, so that the cushion blocks can be placed on the ring forging blocks quickly and accurately, and the stacking efficiency of the ring forging blocks can be greatly improved.

Description

Ring forging piece stacking device in ring forging piece automatic production line

Technical Field

The invention relates to the field of ring forging production equipment, in particular to a ring forging stacking device in an automatic ring forging production line.

Background

In order to improve the production efficiency of the ring forging, an automatic ring forging production line capable of automatically producing the ring forging is urgently needed to be designed. The ring forgings are forged and then need to be subjected to heat treatment in a heating furnace, in order to improve efficiency and save energy, a plurality of ring forgings are generally stacked and then put into the heating furnace together for heat treatment, when the ring forgings are stacked, workers operate a crown block to lift and stack the ring forgings, cushion blocks are also placed among the ring forgings for separation, and the cushion blocks are usually placed manually by the workers; the efficiency of stacking the ring forgings can be greatly reduced by manually operating the crown block to hoist the ring forgings and manually placing the cushion blocks; at present, in order to improve the production efficiency, a ring forging stacking device capable of efficiently stacking ring forgings is urgently needed in a newly designed automatic ring forging production line.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the ring forging stacking device in the automatic ring forging production line can stack ring forgings efficiently.

In order to solve the problems, the technical scheme adopted by the invention is as follows: ring forging pile up neatly device in ring forging automation line includes: hacking platform, overhead traveling crane, cushion, its characterized in that: the overhead traveling crane is a program-controlled overhead traveling crane controlled by a program, a cushion block supporting frame is respectively fixed in front of, behind, on the left side and on the right side of the stacking table, a cushion block placing mechanical arm is respectively arranged in the left front and on the right rear of the stacking table, a cushion block positioning table is placed on each cushion block supporting frame, a supporting and positioning mechanism is arranged between each cushion block positioning table and the cushion block supporting frame, the supporting and positioning mechanism can support and position the cushion block positioning table when the cushion block positioning table is placed on the cushion block supporting frame, a plurality of positioning bulges used for positioning the cushion block are arranged on each cushion block positioning table, lifting lugs used for lifting the cushion block positioning table, a plurality of cushion blocks are placed on each cushion block positioning table, the cushion blocks are cylindrical, the cushion blocks are placed on the cushion block positioning tables vertically and are inserted into lower ports of the cushion block positioning tables through the positioning bulges to be positioned on the cushion block positioning tables, the two cushion block positioning tables on the front side and the left side are used for being matched with the cushion block placing mechanical arm on the left front side, the two cushion block positioning tables matched with the cushion block placing mechanical arm, and the side surface of the cushion block picking ring which is close to the cushion block picking piece.

Further, ring forging pile up neatly device in aforementioned ring forging automation line, wherein: the structure for supporting the positioning mechanism comprises: the four upper support columns are respectively fixed below the left front part, the right front part, the left rear part and the right rear part of the cushion block positioning table, the four lower support columns are respectively fixed above the left front part, the right front part, the left rear part and the right rear part of the cushion block support frame, pin columns are respectively arranged on top end faces of two lower support columns located on opposite angles in the four lower support columns, each pin column is formed by coaxially connecting a positioning column and a guide cone, and the large end of the guide cone is fixedly butted with the top of the positioning column; the bottom end faces of two upper supporting columns positioned on opposite angles in the four upper supporting columns are respectively provided with a positioning round hole which can be matched with the positioning column on the pin column for positioning; the structure of the deviation rectifying mechanism comprises: four vertical plates of rectifying, four voussoirs of rectifying are adjustable install in the front portion of cushion support frame of interior external position respectively, the rear portion, the left side, on the right side, four risers of rectifying are respectively being fixed in the front portion of cushion locating platform downwards, the rear portion, on the left side, on the right side, when cushion locating platform is placed on the cushion support frame, four risers of rectifying can paste the inclined plane downwardly movement of four voussoirs of rectifying respectively, make four voussoirs of rectifying lead to four risers of rectifying through the inclined plane on it respectively, thereby make four voussoirs of rectifying can be in the past, the back, left and right four directions rectify the cushion locating platform and rectify, four upper strut can be respectively laid aside on four lower strut posts, two round pin posts can insert respectively to two location round holes under the direction of direction awl separately, make the reference column can fix a position the location platform with the locating round hole cooperation cushion.

Further, ring forging pile up neatly device in aforementioned ring forging automation line, wherein: the structure of manipulator is put to cushion includes: a base, a rotatable vertical frame and a vertical frame driving mechanism which can drive the vertical frame to rotate are arranged on the base, a sliding table which can slide up and down and a sliding table driving mechanism which can drive the sliding table to slide up and down are arranged on the vertical frame, a cross beam is arranged in front of the sliding table, the rear end of the cross beam is fixed with the sliding table, a sliding arm which can slide back and forth and a sliding arm driving mechanism which can drive the sliding arm to slide back and forth are arranged on the cross beam, the sliding arm can extend out of the cross beam forward after moving forward, an installation block is fixed at the front end of the sliding arm, a sliding block and two guide rods which are fixed with the installation block are respectively arranged at the left side and the right side of the installation block, the two guide rods at each side penetrate through the sliding block at the side, the two sliding blocks can be arranged on the side surface of the installation block in a left-right sliding manner under the guide of the two guide rods at the side, a main gear and two main racks which move left and right are arranged on the installation block, the two main racks are arranged front and back and can slide left and right on the mounting block, the main gear is positioned between the two main racks and is respectively meshed with the two main racks for transmission, the two main racks and the two sliding blocks are respectively fixed one by one, a pinion gear, a pinion rack and two supporting claws which are opposite left and right are arranged below the mounting block, the upper ends of the two supporting claws are respectively fixed with the two sliding blocks one by one, the pinion gear and the pinion rack are meshed for transmission, the main gear and the pinion gear are coaxially arranged and are fixed on the same shaft, a push-pull rod capable of sliding front and back and an electric cylinder for driving the push-pull rod to move back and forth are further arranged on the sliding arm, the front end of the push-pull rod is fixed with the pinion rack, so that the push-pull rod can drive the pinion gear and the main gear to rotate together through the pinion rack after the push-pull rod moves back and forth under the driving of the electric cylinder, the main gear can drive the two main gear strips to drive the two sliding blocks and the two supporting claws to move towards each other or back to each other after rotating, and the two supporting claws are inserted into the upper ports of the cushion blocks at the lower ends of the two supporting claws and move back to be respectively abutted against the inner walls of the cushion blocks to grab the cushion blocks.

Further, ring forging pile up neatly device in aforementioned ring forging automation line, wherein: the structure of the slide arm driving mechanism comprises: the device comprises a long rack, a sliding arm driving gear, a short transmission shaft, a 90-degree steering reducer, a long transmission shaft and a sliding arm driving motor, wherein the short transmission shaft is vertically and rotatably arranged on the front end of a cross beam, the long rack and the sliding arm driving gear are mutually meshed, the sliding arm driving gear is fixed on the lower end of the short transmission shaft, the long rack is fixed on the sliding arm and is arranged along the sliding arm, the 90-degree steering reducer is fixed on the front end of the cross beam, the sliding arm driving motor is fixed on the rear end of the cross beam, the long transmission shaft is positioned between the 90-degree steering reducer and the sliding arm driving motor and is rotatably arranged on the cross beam through a bearing, an output shaft of the sliding arm driving motor is fixed with the rear end of the long transmission shaft, the front end of the long transmission shaft is fixed with a horizontal input shaft of the 90-degree steering reducer, a vertical output shaft of the 90-degree steering reducer is fixed with the upper end of the short transmission shaft, the sliding arm driving gear can rotate under the driving of the driving motor, and the sliding arm can drive the long rack to move the sliding arm to move back and forth after the sliding arm rotates.

Further, ring forging pile up neatly device in aforementioned ring forging automation line, wherein: be provided with an interior tooth type slewing bearing between grudging post and the base, interior tooth type slewing bearing's outer lane is fixed mutually with the base, ring gear and grudging post are fixed mutually for the grudging post can be rotatory on the base through interior tooth type slewing bearing, grudging post actuating mechanism's structure is: the output shaft of the vertical frame driving motor is fixedly provided with a vertical frame driving gear, and the vertical frame driving gear is meshed with the inner gear ring of the inner gear type slewing bearing for transmission.

Further, ring forging pile up neatly device in aforementioned ring forging automation line, wherein: the structure of the sliding table driving mechanism comprises: the lead screw passes through the vertical and rotatable installation in the grudging post of bearing, is provided with the lead screw driving motor who is used for driving the lead screw rotatory at the top of grudging post, and threaded connection has a drive nut on the lead screw, and drive nut is fixed mutually with the slip table.

Further, ring forging pile up neatly device in aforementioned ring forging automation line, wherein: a camera for visual detection and photographing is also fixed at the front end of the sliding arm.

Further, ring forging pile up neatly device in aforementioned ring forging automation line, wherein: four lifting lugs are arranged on each cushion block positioning table and are respectively arranged on the left front part, the right front part, the left rear part and the right rear part of each cushion block positioning table.

The invention has the advantages that: the stacking device for the ring forgings has the advantages that the ring forgings can be quickly and accurately stacked due to the fact that the program-controlled crown block is adopted to hoist the ring forgings, and in addition, the two cushion block placing manipulators are adopted to place the cushion blocks, so that the cushion blocks can be quickly and accurately placed on the ring forgings, and accordingly stacking efficiency of the ring forgings can be greatly improved.

Drawings

Fig. 1 is a schematic structural diagram of a ring forging stacking device in an automatic ring forging production line according to the present invention.

Fig. 2 is a schematic view of an assembly structure of the pad support bracket and the pad positioning table shown in fig. 1.

FIG. 3 is a schematic view of the structure of the spacer support bracket shown in FIG. 1.

Fig. 4 is a schematic structural view of the spacer block positioning table shown in fig. 1.

Fig. 5 is a perspective view of the spacer placing robot shown in fig. 1.

Fig. 6 is a schematic perspective view of another perspective view of the pad placement robot shown in fig. 1.

Fig. 7 is an enlarged schematic view of a portion a in fig. 6.

Fig. 8 is a structural schematic diagram of a driving structure of two supporting claws.

Fig. 9 is a schematic structural view of the slide arm driving mechanism.

Fig. 10 is a schematic structural view of the pin.

Detailed Description

The present invention will be described in further detail below with reference to specific embodiments and the accompanying drawings.

As shown in fig. 1 and 2, the ring forging stacking apparatus in an automatic ring forging production line includes: the crane is a program-controlled crane controlled by a program, a cushion block support frame 2 is fixed in front of, behind, on the left side and on the right side of the pallet 1, cushion block placing manipulators 3 are arranged on the left front side and the right back side of the pallet 1 respectively, a cushion block positioning table 4 is placed on each cushion block support frame 2, a supporting and positioning mechanism is arranged between each cushion block positioning table 4 and each cushion block support frame 2, the supporting and positioning mechanism can support and position the cushion block positioning table 4 when the cushion block positioning table 4 is placed on the cushion block support frame 2, a plurality of positioning protrusions 41 for positioning the cushion block and a plurality of lifting lugs 42 for lifting up the cushion block positioning table 4 are arranged on each cushion block positioning table 4, the cushion blocks 11 are cylindrical, the cushion blocks 11 are vertically placed on the cushion block positioning table 4, and are inserted into lower ports of the cushion block positioning table 4 through the positioning protrusions 41 and are positioned on the positioning tables 4, the front and left side lifting lugs are used for placing manipulators with the left front placing manipulator 3, the cushion blocks and the cushion blocks 4 on the right side of the crane are used for matching with the cushion block placing manipulators, and the positioning manipulators on the surfaces of the cushion block 3, and the two lifting lugs on the cushion block placing manipulators, and the manipulator, and the two lifting lugs on the manipulator are used for matching with the positioning pieces on the cushion block placing manipulators, and the manipulator for matching with the two cushion block placing manipulators on the manipulator for picking pieces on the two cushion block placing manipulator.

Every cushion puts mechanical hand 3 and all is equipped with two cushion location platform 4, when the cushion is put mechanical hand 3 and is snatching the cushion 11 on one of them cushion location platform 4, another empty cushion location platform 4 can be hung from cushion support frame 2 and go to cushion material loading station, have the cushion that the manipulator pulled down after will heat treating on cushion material loading station and put on empty cushion location platform 4 again, fill with cushion 11 back cushion location platform 4 can be hung on corresponding cushion support frame 2 again.

As shown in fig. 2, 3, 4, and 10, the structure of the supporting and positioning mechanism includes: the four upper support columns 5 are respectively fixed below the left front part, the right front part, the left rear part and the right rear part of the cushion block positioning table 4, the four lower support columns 51 are respectively fixed above the left front part, the right front part, the left rear part and the right rear part of the cushion block support frame 2, a pin column 52 is respectively arranged on the top end surfaces of two lower support columns 51 positioned on the opposite angles in the four lower support columns 51, each pin column 52 is formed by coaxially connecting a positioning column 521 and a guide cone 522, and the large end of the guide cone 522 is fixedly butted with the top of the positioning column 521; the bottom end surfaces of two upper support columns 5 positioned on opposite angles in the four upper support columns 5 are respectively provided with a positioning round hole 53 which can be matched and positioned with the positioning column 521 on the pin column 52; the structure of the deviation rectifying mechanism comprises: four vertical plates 6 of rectifying, four voussoirs 61 of rectifying are adjustable respectively inside and outside position install in the front portion of cushion support frame 2, the rear portion, the left side, on the right side, four rectifying are respectively fixed in the front portion of cushion locating platform 4 downwards, the rear portion, the left side, on the right side, when cushion locating platform 4 is placed on cushion support frame 2, four rectifying are 6 can paste the inclined plane downstream that leans on four rectifying voussoirs 61 respectively, make four rectifying wedge 61 can lead four rectifying through the inclined plane on it respectively, thereby make four rectifying voussoirs 61 can be in the past, the back, left side, rectify in four directions on the right cushion locating platform 4 and rectify, four last support columns 5 can rest on four lower support columns 51 respectively, two round pins 52 can insert respectively to two location round holes 53 under the direction of direction awl 522 separately, make location column 521 can cooperate with location round hole 53 and fix a position locating platform 4.

As shown in fig. 5, 6, 7, and 8, the pad placing robot 3 includes: the base 31, a rotatable vertical frame 32 and a vertical frame driving mechanism capable of driving the vertical frame 32 to rotate are installed on the base 31, a sliding table 33 capable of sliding up and down and a sliding table driving mechanism capable of driving the sliding table 33 to slide up and down are installed on the vertical frame 32, the sliding table 33 is installed on the vertical frame 32 through a linear guide rail, a cross beam 34 is arranged in front of the sliding table 33, the rear end of the cross beam 34 is fixed with the sliding table 33, a sliding arm 35 capable of sliding back and forth and a sliding arm driving mechanism capable of driving the sliding arm 35 to slide back and forth are installed on the cross beam 34, a linear guide rail is arranged between the cross beam 34 and the sliding arm 35, the track of the linear guide rail is fixed on the sliding arm 35, the slider of the linear guide rail is fixed on the cross beam 34, the sliding arm 35 can extend forward out of the cross beam 34 after moving forward, an installation block 36 is fixed on the front end of the sliding arm 35, a slider 37 and two guide rods 39 fixed with the installation block 36 are respectively arranged on the left side and the right side of the installation block 36, two guide rods 39 on each side penetrate through the slider 37 on the side, the left side and the two guide rods 39 can be respectively installed on the left side and right side, and the two guide rods 39, and two guide rods 39 are respectively corresponding to be installed on the left side surfaces of the same guide rod 39, and the left side, and right side guide rods 39, and two guide rods 39 respectively; the mounting block 36 is provided with a main gear 7 and two main racks 71 which run left and right, the main gear 7 is rotatably arranged on the mounting block 36 through a bearing, the two main racks 71 are arranged in front and back, and can slide left and right on the mounting block 36, the main gear 7 is located between the two main racks 71, and are respectively meshed with the two main racks 71 for transmission, the two main racks 71 and the two sliding blocks 37 are respectively fixed one by one, a pinion 72, a pinion rack 73 and two supporting claws 38 which are opposite to each other left and right are arranged below the mounting block 36, the upper ends of the two supporting claws 38 and the two sliding blocks 37 are respectively fixed one by one, the pinion 72 and the pinion rack 73 are in meshed transmission, the main gear 7 and the pinion 72 are coaxially arranged and fixed on the same shaft, a push-pull rod 74 capable of sliding back and forth and an electric cylinder 75 for driving the push-pull rod 74 to move back and forth are further mounted on the slide arm 35, the push-pull rod 74 is mounted on the slide arm 35 through a sliding sleeve, the front end of the push-pull rod 74 is fixed with the auxiliary rack 73, after the push-pull rod 74 moves back and forth under the driving of the electric cylinder 75, the pinion 72 and the main gear 7 can be driven to rotate together through the pinion rack 73, the main gear 7 can drive the two main racks 71 to drive the two sliding blocks 37 and the two supporting claws 38 to move towards or away from each other after rotating, the two supporting claws 38 can move above one cushion block 11 on the cushion block positioning table 4 through the rotation of the vertical frame 32 and the expansion and contraction of the sliding arm 35, then, after the two supporting claws 38 are moved downward by the driving of the slide table 33, the lower ends of the two supporting claws 38 can be inserted into the upper ports of the cushion blocks 11, the two supporting claws 38 are inserted into the upper end of the cushion block 11 at the lower ends thereof, and move back to abut against the inner wall of the cushion block 11 to grip the cushion block 11. Adopt two to prop claw 38 and strut to snatch the cushion 11 and compare and snatch more reliably to pressing from both sides the cushion 11 outside from the cushion 11, snatch easily and drop to pressing from both sides the cushion 11 outside from the cushion 11.

As shown in fig. 9, the configuration of the slide arm drive mechanism includes: a long rack 8, a slide arm driving gear 81, a short transmission shaft 82, a 90-degree steering reducer 83, a long transmission shaft 84 and a slide arm driving motor 85, wherein the short transmission shaft 82 is vertically and rotatably arranged on the front end of the cross beam 34, the short transmission shaft 82 is arranged on the cross beam 34 through a bearing, the long rack 8 and the slide arm driving gear 81 are meshed with each other, the slide arm driving gear 81 is fixed on the lower end of the short transmission shaft 82, the long rack 8 is fixed on the slide arm 35 and is arranged along the slide arm 35, the 90-degree steering reducer 83 is fixed on the front part of the cross beam 34, the 90-degree steering reducer 83 is a commercially available reducer, in the actual production, two bevel gears meshed with 90 degrees can be adopted to replace the 90-degree steering reducer 83, and the slide arm driving motor 85 is fixed on the rear part of the cross beam 34, this is because the slide arm drive motor 85 is heavy and cannot be fixed to the front portion of the cross beam 34 together with the 90-degree steering reducer 83, the long transmission shaft 84 is located between the 90-degree steering reducer 83 and the slide arm drive motor 85 and rotatably mounted on the cross beam 34 through a bearing, the output shaft of the slide arm drive motor 85 is fixed to the rear end of the long transmission shaft 84, the front end of the long transmission shaft 84 is fixed to the horizontal input shaft of the 90-degree steering reducer 83, the vertical output shaft of the 90-degree steering reducer 83 is fixed to the upper end of the short transmission shaft 82, the slide arm drive gear 81 can rotate by the drive of the slide arm drive motor 85, and the slide arm drive gear 81 can drive the long rack 8 to move the slide arm 35 back and forth after rotating.

As shown in fig. 5 and 6, an inner-toothed slewing bearing 91 is disposed between the stand 32 and the base 31, an outer ring of the inner-toothed slewing bearing 91 is fixed to the base 31, and an inner ring gear is fixed to the stand 32, so that the stand 32 can rotate on the base 31 through the inner-toothed slewing bearing 91, and the stand driving mechanism has a structure that: a vertical frame driving motor 92 fixed on the base, a vertical frame driving gear fixed on the output shaft of the vertical frame driving motor 92, and the vertical frame driving gear is meshed with the inner gear ring of the inner gear type slewing bearing 91 for transmission.

As shown in fig. 5 and 6, the structure of the slide table driving mechanism includes: the lead screw 93 is vertically and rotatably mounted in the vertical frame 32 through a bearing, a lead screw driving motor 94 for driving the lead screw 93 to rotate is arranged at the top of the vertical frame 32, a driving nut is connected to the lead screw 93 through threads, and the driving nut is fixed with the sliding table 33.

Still be fixed with a camera 95 that is used for visual inspection to shoot on the front end of cursor 35, when two supporting claws 38 that the cushion puts and puts the manipulator 3 drive on it move to the cushion 11 top of waiting to snatch, the controller can be through camera 95 shoot the cushion 11 of waiting to snatch, then the controller can utilize the picture of shooing the gained to carry out visual inspection to judge whether two supporting claws 38 move in place, if do not move in place, the controller can control the action of cushion and put manipulator 3 and finely tune the position of two supporting claws 38, make two supporting claws 38 accurately insert in the last port of cushion 11 after moving down.

Four lifting lugs 42 are arranged on each cushion block positioning table 4, and the four lifting lugs 42 are respectively arranged on the left front part, the right front part, the left rear part and the right rear part of each cushion block positioning table 4, so that the cushion block positioning tables 4 can be lifted more stably.

During stacking, a first ring forging is hoisted to a stacking platform 1 by a program control crane, then two cushion block placing manipulators 3 grab cushion blocks 11 on corresponding cushion block positioning platforms 4, then the two cushion block placing manipulators 3 place the grabbed cushion blocks 11 on one side surfaces of the first ring forging close to the first ring forging respectively, the surfaces of two sides of the first ring forging are respectively and uniformly provided with three cushion blocks 11 by the corresponding cushion block placing manipulators 3, then a second ring forging is hoisted and stacked to the first ring forging by the program control crane, the first ring forging is separated by six pre-placed cushion blocks 11, then the two cushion block placing manipulators 3 grab the cushion blocks 11 on the corresponding cushion block positioning platforms 4 respectively, then the two cushion block placing manipulators 3 place the grabbed cushion blocks 11 on one side surfaces of the second ring forging close to the second ring forging respectively, the surfaces of two sides of the second ring forging are respectively and uniformly provided with the three cushion blocks 11 by the corresponding cushion block placing manipulators 3, then the two cushion block placing manipulators 3 place the second ring forging on one side surfaces of the second ring forging close to the second ring forging respectively, and the six ring forgings are hoisted by the stacking operation of the first ring forging in a circle, and the six ring forgings are sequentially separated by the stacking operation of the first ring forging.

Claims

1. Ring forging pile up neatly device in ring forging automation line includes: hacking platform, overhead traveling crane, cushion, its characterized in that: the overhead traveling crane is a program-controlled overhead traveling crane controlled by a program, a cushion block supporting frame is respectively fixed in front of, behind, on the left side of and on the right side of the stacking table, a cushion block placing mechanical hand is respectively arranged in front of and on the right side of the stacking table, a cushion block positioning table is placed on each cushion block supporting frame, a supporting and positioning mechanism is arranged between each cushion block positioning table and the cushion block supporting frame, the supporting and positioning mechanism can support and position the cushion block positioning table when the cushion block positioning table is placed on the cushion block supporting frame, a plurality of positioning bulges used for positioning the cushion block are arranged on each cushion block positioning table, lifting lugs used for lifting up the cushion block positioning table, a plurality of cushion blocks are placed on each cushion block positioning table, the cushion blocks are cylindrical, the cushion blocks are vertically placed on the cushion block positioning tables and are respectively inserted into lower ports of the positioning bulges to be positioned on the cushion block positioning tables, the two cushion block positioning tables in front of the overhead traveling crane and on the left side of the overhead traveling crane are used for being matched with the cushion block placing mechanical hand, the two cushion block positioning tables matched with the two cushion block placing mechanical hands, and the side surfaces of the two cushion blocks matched with the cushion block grabbing ring of the cushion block grabbing mechanical hand, respectively, and the two cushion blocks matched with the two cushion blocks, and the two cushion block grabbing piece, and grabbing ring pieces; the structure of manipulator is put to cushion includes: a base, a rotatable vertical frame and a vertical frame driving mechanism which can drive the vertical frame to rotate are arranged on the base, a sliding table which can slide up and down and a sliding table driving mechanism which can drive the sliding table to slide up and down are arranged on the vertical frame, a cross beam is arranged in front of the sliding table, the rear end of the cross beam is fixed with the sliding table, a sliding arm which can slide back and forth and a sliding arm driving mechanism which can drive the sliding arm to slide back and forth are arranged on the cross beam, the sliding arm can extend out of the cross beam forward after moving forward, an installation block is fixed at the front end of the sliding arm, a sliding block and two guide rods which are fixed with the installation block are respectively arranged at the left side and the right side of the installation block, the two guide rods at each side penetrate through the sliding block at the side, the two sliding blocks can be arranged on the side surface of the installation block in a left-right sliding manner under the guide of the two guide rods at the side, a main gear and two main racks which move left and right are arranged on the installation block, the two main racks are arranged front and back and can slide left and right on the mounting block, the main gear is positioned between the two main racks and is respectively meshed with the two main racks for transmission, the two main racks and the two sliding blocks are respectively fixed one by one, a pinion gear, a pinion rack and two supporting claws which are opposite left and right are arranged below the mounting block, the upper ends of the two supporting claws are respectively fixed with the two sliding blocks one by one, the pinion gear and the pinion rack are meshed for transmission, the main gear and the pinion gear are coaxially arranged and are fixed on the same shaft, a push-pull rod capable of sliding front and back and an electric cylinder for driving the push-pull rod to move back and forth are further arranged on the sliding arm, the front end of the push-pull rod is fixed with the pinion rack, so that the push-pull rod can drive the pinion gear and the main gear to rotate together through the pinion rack after the push-pull rod moves back and forth under the driving of the electric cylinder, the main gear can drive the two main gear racks to drive the two sliding blocks and the two supporting claws to move in opposite directions or move back to back after rotating, the lower ends of the two supporting claws are inserted into the upper port of the cushion block and move back to respectively abut against the inner wall of the cushion block, and then the cushion block can be grabbed; the structure for supporting the positioning mechanism comprises: the four upper support columns are respectively fixed below the left front part, the right front part, the left rear part and the right rear part of the cushion block positioning table, the four lower support columns are respectively fixed above the left front part, the right front part, the left rear part and the right rear part of the cushion block support frame, pin columns are respectively arranged on top end faces of two lower support columns located on opposite angles in the four lower support columns, each pin column is formed by coaxially connecting a positioning column and a guide cone, and the large end of the guide cone is fixedly butted with the top of the positioning column; the bottom end surfaces of two upper support columns positioned on opposite angles in the four upper support columns are respectively provided with a positioning round hole which can be matched and positioned with a positioning column on the pin column; the structure of the deviation rectifying mechanism comprises: the four deviation rectifying vertical plates are respectively fixed on the front part, the rear part, the left side and the right side of the cushion block supporting frame in a downward mode, the four deviation rectifying vertical plates are respectively fixed on the front part, the rear part, the left side and the right side of the cushion block positioning table in a downward mode, when the cushion block positioning table is placed on the cushion block supporting frame, the four deviation rectifying vertical plates can respectively move downwards along the inclined surfaces of the four deviation rectifying wedge blocks, so that the four deviation rectifying wedge blocks can respectively guide the four deviation rectifying vertical plates through the inclined surfaces of the four deviation rectifying wedge blocks, the four deviation rectifying wedge blocks can rectify deviation of the cushion block positioning table in the front, rear, left and right directions, the four upper supporting columns can be respectively placed on the four lower supporting columns, the two pin columns can be respectively inserted into the two positioning circular holes under the guide of the guide cones, and the positioning columns can be matched with the positioning circular holes to position the cushion block positioning table; the structure of the slide arm driving mechanism comprises: the device comprises a long rack, a sliding arm driving gear, a short transmission shaft, a 90-degree steering reducer, a long transmission shaft and a sliding arm driving motor, wherein the short transmission shaft is vertically and rotatably arranged on the front end of a cross beam, the long rack and the sliding arm driving gear are mutually meshed, the sliding arm driving gear is fixed on the lower end of the short transmission shaft, the long rack is fixed on the sliding arm and is arranged along the sliding arm, the 90-degree steering reducer is fixed on the front end of the cross beam, the sliding arm driving motor is fixed on the rear end of the cross beam, the long transmission shaft is positioned between the 90-degree steering reducer and the sliding arm driving motor and is rotatably arranged on the cross beam through a bearing, an output shaft of the sliding arm driving motor is fixed with the rear end of the long transmission shaft, the front end of the long transmission shaft is fixed with a horizontal input shaft of the 90-degree steering reducer, a vertical output shaft of the 90-degree steering reducer is fixed with the upper end of the short transmission shaft, the sliding arm driving gear can rotate under the driving of the driving motor, and the sliding arm can drive the long rack to move the sliding arm to move back and forth after the sliding arm rotates.

2. The ring forging stacking device in the automatic ring forging production line according to claim 1, wherein: be provided with an interior tooth type slewing bearing between grudging post and the base, interior tooth type slewing bearing's outer lane is fixed mutually with the base, ring gear and grudging post are fixed mutually for the grudging post can be rotatory on the base through interior tooth type slewing bearing, grudging post actuating mechanism's structure is: the output shaft of the vertical frame driving motor is fixedly provided with a vertical frame driving gear, and the vertical frame driving gear is meshed with the inner gear ring of the inner gear type slewing bearing for transmission.

3. The ring forge stacking apparatus in an automatic ring forge production line according to claim 1 or 2, wherein: the structure of the sliding table driving mechanism comprises: the lead screw passes through the vertical and rotatable installation in the grudging post of bearing, is provided with the lead screw driving motor who is used for driving the lead screw rotatory at the top of grudging post, and threaded connection has a drive nut on the lead screw, and drive nut is fixed mutually with the slip table.

4. The ring forge stacking apparatus in an automatic ring forge production line according to claim 1 or 2, wherein: a camera for visual detection and photographing is also fixed at the front end of the sliding arm.

5. The ring forging stacking device in an automatic ring forging production line according to claim 1 or 2, wherein: four lifting lugs are arranged on each cushion block positioning table and are respectively arranged on the left front part, the right front part, the left rear part and the right rear part of each cushion block positioning table.