CN116967386B - Material taking robot for large shaft forgings - Google Patents
Material taking robot for large shaft forgings Download PDFInfo
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- CN116967386B CN116967386B CN202311235297.5A CN202311235297A CN116967386B CN 116967386 B CN116967386 B CN 116967386B CN 202311235297 A CN202311235297 A CN 202311235297A CN 116967386 B CN116967386 B CN 116967386B
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- 238000005242 forging Methods 0.000 title claims abstract description 92
- 239000000463 material Substances 0.000 title claims abstract description 54
- 230000000712 assembly Effects 0.000 claims abstract description 33
- 238000000429 assembly Methods 0.000 claims abstract description 33
- 230000001276 controlling effect Effects 0.000 claims description 21
- 238000006073 displacement reaction Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 11
- 238000009659 non-destructive testing Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 239000003921 oil Substances 0.000 description 300
- 239000012530 fluid Substances 0.000 description 19
- 238000004891 communication Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 239000010720 hydraulic oil Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000001502 supplementing effect Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000007123 defense Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 238000005272 metallurgy Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a large shaft forging material taking robot, relates to the technical field of shaft forging forming, and aims to solve the problem that the dimension range of a shaft forging applicable to an oversized shaft forging is narrow. The large shaft forge piece taking robot comprises a clamping device, a clamping hydraulic system and a traveling device, wherein the clamping device comprises a guide rail, at least two clamping adjustment hydraulic cylinders and at least two groups of clamping assemblies, each clamping adjustment hydraulic cylinder is in power connection with the corresponding clamping assembly, the clamping assemblies are in sliding connection with the guide rail, and the clamping assemblies are used for clamping large shaft forge pieces; the clamp hydraulic system is in power connection with the clamp adjusting hydraulic cylinder and is used for driving the clamp assembly to slide on the guide rail; the walking device is connected with the clamp device and is used for driving the clamp device to move. The large shaft forge piece material taking robot is used for taking and carrying the oversized shaft forge pieces with different sizes, ensures the clamping stability, is convenient to move and improves the degree of automation.
Description
Technical Field
The invention relates to the technical field of shaft forge piece forming, in particular to a large shaft forge piece material taking robot.
Background
The ultra-large shaft forging is produced by a hydraulic press with the weight of more than 1 ten thousand tons or hot forging equipment with the weight of more than 4 ten thousand tons, is mainly applied to key core parts of high-end equipment, is a basic part for manufacturing heavy equipment, and reflects the extreme manufacturing capacity and the manufacturing level of China. The ultra-large shaft forging is mainly applied to national key engineering and national defense projects and construction of important infrastructure, for example: aerospace, marine equipment, ships, nuclear power, thermal power, wind power, rail transit, petrochemical industry, metallurgy, new energy and other fields.
In the process of processing the ultra-large shaft forgings, taking materials from a heating furnace, overturning an anvil surface and carrying at the later stage are very inconvenient, meanwhile, the existing shaft forgings taking device clamps clamping jaws fixedly connected with a mechanical arm through a motor or a cylinder, when the shaft forgings with different lengths are clamped, the spacing between the different clamping jaws is inconvenient to adjust, the applicable shaft forgings are narrow in size range, workers or a movable crown block is required to carry out auxiliary operation in the working process, the working noise of the movable crown block is large, and the labor intensity of workers is high.
Disclosure of Invention
The invention aims to provide a large shaft forge piece material taking robot which is used for taking and carrying ultra-large shaft forge pieces with different sizes, ensures clamping stability, is convenient to move and improves automation degree.
In order to achieve the above object, the present invention provides a large shaft forging material taking robot, comprising:
the clamping device comprises a guide rail, at least two clamp adjusting hydraulic cylinders and at least two groups of clamp assemblies, each clamp adjusting hydraulic cylinder is in power connection with the corresponding clamp assembly, the clamp assemblies are in sliding connection with the guide rail, and the clamp assemblies are used for clamping large shaft forgings;
the clamp hydraulic system is in power connection with the clamp adjusting hydraulic cylinder and is used for driving the clamp assembly to slide on the guide rail;
the traveling device is connected with the clamping device and used for driving the clamping device to move and adjusting the horizontal position of the clamping device relative to the large shaft forging piece.
Compared with the prior art, the clamping device of the large shaft forge piece taking robot comprises the guide rail, at least two clamping adjustment hydraulic cylinders and at least two groups of clamping assemblies, when the large shaft forge pieces are taken and conveyed, the clamping hydraulic system can control the expansion and contraction of the piston rods of the clamping adjustment hydraulic cylinders so as to drive the clamping assemblies to slide on the guide rail, when the length of the large shaft forge pieces is short, the two clamping assemblies furthest away can move in opposite directions, the distance between the two clamping assemblies is reduced, and therefore all the clamping assemblies can be clamped on the large shaft forge pieces, when the length of the large shaft forge pieces is long, the two clamping assemblies furthest away can move in opposite directions, and the distance between the two clamping assemblies is increased, so that unstable clamping of the large shaft forge pieces caused by the fact that the distance between the clamping assemblies is far smaller than the length of the large shaft forge pieces is avoided; in addition, the traveling device can drive the clamping device and the large shaft forging to move, so that the manual work intensity is reduced. Based on the above, the large shaft forge piece taking robot provided by the invention can adjust the distances between different clamp assemblies through the clamp hydraulic system, so that the distance is matched with the length of a large shaft forge piece to be clamped, the taking and carrying of the oversized shaft forge pieces with different sizes are realized, the clamping stability of the large shaft forge pieces in the clamping and carrying processes is ensured, the traveling device can drive the clamp device and the large shaft forge pieces to move, the manual working strength is reduced, the movement is convenient, and the automation degree is improved.
Optionally, in the large shaft forging material taking robot, the travelling device includes:
at least 4 travel hydraulic motors;
and at least 4 driving wheels, wherein each driving wheel is in power connection with a corresponding walking hydraulic motor, and the walking hydraulic motor is used for controlling the movement of the driving wheel.
Optionally, the large shaft forging material taking robot further includes:
a main pressure oil pipe;
a main oil return pipe;
controlling an oil pipe;
an oil drain pipe;
at least 4 walking hydraulic systems of group, every group walking hydraulic system all includes first proportional relief valve, first hydraulically controlled check valve, the second hydraulically controlled check valve, the third hydraulically controlled check valve, first solenoid valve, first relief valve, first proportional servo valve and first check valve, the hydraulic fluid port B of first proportional relief valve and main pressure oil pipe intercommunication, the hydraulic fluid port A of first proportional relief valve and the hydraulic fluid port B of first hydraulically controlled check valve intercommunication, the hydraulic fluid port A of first hydraulically controlled check valve and the hydraulic fluid port A of first relief valve intercommunication, the hydraulic fluid port B of first relief valve and the hydraulic fluid port P of first proportional servo valve intercommunication, the hydraulic fluid port A of first hydraulically controlled check valve and the hydraulic fluid port A of second hydraulically controlled check valve intercommunication, the hydraulic fluid port B of second hydraulically controlled check valve and the hydraulic fluid port A of walking hydraulic motor intercommunication, the hydraulic fluid port B of third hydraulically controlled check valve and the hydraulic fluid port B intercommunication of third hydraulically controlled check valve, the hydraulic fluid port A of third hydraulically controlled check valve and the B intercommunication of first proportional servo valve, the hydraulic fluid port T of first proportional servo valve and the hydraulic fluid port A of first check valve intercommunication, the hydraulic fluid port B of first hydraulically controlled check valve and the hydraulic fluid port B of first check valve intercommunication, the hydraulic fluid port B of first hydraulically controlled check valve and the first solenoid valve of first solenoid valve and the first hydraulically controlled check valve and the first solenoid valve of valve, the equal motion check valve group of first solenoid valve and the electromagnetic valve and the first hydraulically controlled check valve, the electromagnetic valve and the electromagnetic valve all communicated with the first solenoid valve, the first hydraulically controlled check valve X valve and the valve all is used for controlling the electromagnetic valve all communicated with the first solenoid valve.
Optionally, in the large shaft forging material taking robot, each clamp assembly includes:
the clamp telescopic hydraulic cylinder is in power connection with the clamp hydraulic system;
the connecting rod mechanism is in power connection with the clamp telescopic hydraulic cylinder;
at least two clamps, each clamp is rotatably connected with the connecting rod mechanism;
the guide sleeve, the clamp telescopic hydraulic cylinder and the connecting rod mechanism are connected with the guide sleeve, the guide sleeve is in sliding connection with the guide rail, and the guide sleeve is in power connection with the clamp adjusting hydraulic cylinder.
Optionally, the above-mentioned large shaft forging reclaimer robot further includes a main pressure oil pipe, a main oil return pipe, a control oil pipe and an oil drain pipe, and the clamp hydraulic system includes:
the clamp adjusting hydraulic system comprises a second proportional pressure reducing valve, a fourth pilot-operated check valve, a fifth pilot-operated check valve, a sixth pilot-operated check valve, a second electromagnetic ball valve, a second pressure reducing valve, a second proportional servo valve and a second check valve; an oil port B of the second proportional pressure reducing valve is communicated with a main pressure oil pipe, an oil port A of the second proportional pressure reducing valve is communicated with an oil port B of the fourth hydraulic control check valve, an oil port A of the fourth hydraulic control check valve is communicated with an oil port A of the second proportional servo valve, an oil port A of the second proportional servo valve is communicated with an oil port A of the fifth hydraulic control check valve, an oil port B of the fifth hydraulic control check valve is communicated with an oil port B of the clamp adjusting hydraulic cylinder, an oil port A of the clamp adjusting hydraulic cylinder is communicated with an oil port B of the sixth hydraulic control check valve, an oil port A of the sixth hydraulic control check valve is communicated with an oil port B of the second proportional servo valve, an oil port T of the second proportional servo valve is communicated with an oil port A of the second check valve, an oil port B of the second check valve is communicated with a main return pipe, and X ports of the fourth hydraulic control check valve, the fifth hydraulic control check valve and the sixth hydraulic control check valve are respectively communicated with an electromagnetic port A of a second ball valve, and an electromagnetic port Y of the fourth hydraulic control check valve and the fourth hydraulic control check valve are respectively communicated with an electromagnetic port P of the ball valve and an electromagnetic clamp assembly;
The clamp telescopic hydraulic system comprises a three-position four-way electromagnetic directional valve, a hydraulic lock, a third pressure reducing valve, a throttle speed regulating valve and a first overflow valve, wherein an oil port P of the three-position four-way electromagnetic directional valve is communicated with a main pressure oil pipe, an oil port T of the three-position four-way electromagnetic directional valve is communicated with a main oil return pipe, an oil port X and an oil port P of the first overflow valve are both communicated with an oil port A of a clamp telescopic hydraulic cylinder, an oil port T of the first overflow valve is communicated with the main oil return pipe, and the three-position four-way electromagnetic directional valve, the hydraulic lock, the third pressure reducing valve and the throttle speed regulating valve are combined together in a superposition installation mode and are communicated with the clamp telescopic hydraulic cylinder, and the clamp telescopic hydraulic system is used for controlling relative approaching or separating of two clamps.
Optionally, the large shaft forging material taking robot further includes:
the lifting device comprises a movable arm, a large arm, a small arm, a front arm, a rotating base, a first lifting hydraulic cylinder, a second lifting hydraulic cylinder, a third lifting hydraulic cylinder and a fourth lifting hydraulic cylinder, wherein the first end of the movable arm is rotatably connected with the rotating base, the second end of the movable arm is rotatably connected with the first end of the large arm, the second end of the large arm is rotatably connected with the first end of the small arm, the first end of the front arm and the clamping device are respectively rotatably connected with the second end of the small arm, the second end of the front arm is connected with the clamping device, the first lifting hydraulic cylinder is fixedly connected with the rotating base, the output end of the first lifting hydraulic cylinder is in power connection with the second end of the movable arm, the second lifting hydraulic cylinder is fixedly connected with the movable arm, the third lifting hydraulic cylinder is fixedly connected with the large arm, the output end of the third lifting hydraulic cylinder is in power connection with the small arm, the fourth lifting hydraulic cylinder is fixedly connected with the small arm, and the output end of the fourth lifting hydraulic cylinder is in power connection with the front arm;
The first lifting hydraulic system comprises a first servo motor, a first variable pump, a second variable pump, a third one-way valve, a fourth one-way valve, a first two-way reversing valve, a second two-way reversing valve and a first accumulator group, wherein the first variable pump and the second variable pump are coaxially arranged with the first servo motor, an A port of the first variable pump is communicated with an A port of the second two-way reversing valve, an oil port B of the second two-way reversing valve is communicated with an oil port A of the first lifting hydraulic cylinder, an oil port B of the first lifting hydraulic cylinder is communicated with an oil port B of the first two-way reversing valve, an oil port B of the first variable pump and an oil port B of the second variable pump are communicated with an oil port A of the first two-way reversing valve, an oil port A of the third one-way valve and an oil port A of the fourth one-way valve are communicated with an oil port A of the first accumulator group, an oil port B of the third one-way valve is communicated with an oil port B of the second two-way reversing valve, and an oil port B of the second one-way reversing valve is communicated with an oil port A of the first two-way reversing valve;
the second lifting hydraulic system comprises a second servo motor, a third variable pump, a fourth variable pump, a fifth one-way valve, a sixth one-way valve, a third two-way reversing valve, a fourth two-way reversing valve and a second accumulator group, wherein the third variable pump and the fourth variable pump are coaxially arranged with the second servo motor, an A port of the third variable pump is communicated with an A port of the fourth two-way reversing valve, an oil port B of the fourth two-way reversing valve is communicated with an oil port A of the second lifting hydraulic cylinder, an oil port B of the second lifting hydraulic cylinder is communicated with an oil port B of the third two-way reversing valve, an oil port B of the third variable pump and an oil port B of the fourth variable pump are communicated with an oil port A of the third two-way reversing valve, an oil port A of the fourth variable pump is communicated with an oil port A of the second accumulator group, an oil port A of the fifth one-way valve and an oil port A of the sixth one-way valve are communicated with an oil port A of the second accumulator group, an oil port B of the fifth one-way valve is communicated with an oil port B of the fourth two-way reversing valve, and an oil port B of the fourth two-way reversing valve is communicated with an oil port A of the fourth two-way reversing valve;
The third lifting hydraulic system comprises a third servo motor, a fifth variable pump, a sixth variable pump, a seventh one-way valve, an eighth one-way valve, a fifth two-way reversing valve, a sixth two-way reversing valve and a third accumulator group, wherein the fifth variable pump and the sixth variable pump are coaxially arranged with the third servo motor, an A port of the fifth variable pump is communicated with an A port of the sixth two-way reversing valve, an oil port B of the sixth two-way reversing valve is communicated with an oil port A of the third lifting hydraulic cylinder, an oil port B of the third lifting hydraulic cylinder is communicated with an oil port B of the fifth two-way reversing valve, an oil port B of the fifth variable pump and an oil port B of the sixth variable pump are communicated with an oil port A of the fifth two-way reversing valve, an oil port A of the sixth variable pump is communicated with an oil port A of the third accumulator group, an oil port A of the seventh one-way valve and an oil port A of the eighth one-way valve are communicated with an oil port A of the third accumulator group, an oil port B of the seventh one-way valve is communicated with an oil port B of the fifth two-way reversing valve;
the fourth lifting hydraulic system comprises a fourth servo motor, a seventh variable pump, an eighth variable pump, a ninth one-way valve, a tenth one-way valve, a seventh two-way reversing valve, an eighth two-way reversing valve and a fourth accumulator group, wherein the seventh variable pump and the eighth variable pump are coaxially arranged with the fourth servo motor, an A port of the seventh variable pump is communicated with an A port of the eighth two-way reversing valve, an oil port B of the eighth two-way reversing valve is communicated with an oil port A of the fourth lifting hydraulic cylinder, an oil port B of the fourth lifting hydraulic cylinder is communicated with an oil port B of the seventh two-way reversing valve, an oil port B of the seventh variable pump and an oil port B of the eighth variable pump are communicated with an oil port A of the seventh two-way reversing valve, an oil port A of the ninth one-way valve and an oil port A of the tenth one-way valve are communicated with an oil port A of the fourth accumulator group, an oil port B of the ninth one-way valve is communicated with an oil port B of the eighth two-way reversing valve, and an oil port B of the eighth two-way reversing valve is communicated with an oil port A of the seventh two-way reversing valve.
Optionally, the large shaft forging material taking robot further includes:
the mechanical arm rotating device comprises a mechanical arm rotating hydraulic motor, a gear transmission assembly and a turntable, wherein the mechanical arm rotating hydraulic motor is in power connection with the gear transmission assembly, and the gear transmission assembly is in transmission connection with the turntable;
and the output end of the clamp rotary hydraulic motor is in power connection with the clamp device and is used for controlling the clamp device to rotate.
Optionally, the large shaft forging material taking robot further includes:
the rotary hydraulic system comprises a mechanical arm rotary hydraulic system and a clamp rotary hydraulic system, the mechanical arm rotary hydraulic system comprises a fifth servo motor, a ninth variable pump, a first three-position three-way hydraulic reversing valve and a second overflow valve, the fifth servo motor is coaxial with the ninth variable pump, an oil port A of the ninth variable pump is communicated with an oil port A of the mechanical arm rotary hydraulic motor, an oil port B of the mechanical arm rotary hydraulic motor is communicated with an oil port B of the ninth variable pump, an oil port A of the first three-position three-way hydraulic reversing valve is communicated with an oil port A of the mechanical arm rotary hydraulic motor, an oil port B of the first three-position three-way hydraulic reversing valve is communicated with an oil port B of the mechanical arm rotary hydraulic motor, an oil port T of the first three-position three-way hydraulic reversing valve is communicated with an oil P of the second overflow valve, and an oil port T of the second overflow valve is used for being communicated with an oil tank; the clamp rotary hydraulic system comprises a sixth servo motor, a tenth variable pump, a second three-position three-way hydraulic reversing valve and a third overflow valve, wherein the sixth servo motor is coaxial with the tenth variable pump, an oil port A of the tenth variable pump is communicated with an oil port A of the clamp rotary hydraulic motor, an oil port B of the clamp rotary hydraulic motor is communicated with an oil port B of the tenth variable pump, an oil port A of the second three-position three-way hydraulic reversing valve is communicated with an oil port A of the clamp rotary hydraulic motor, an oil port B of the second three-position three-way hydraulic reversing valve is communicated with an oil port B of the clamp rotary hydraulic motor, an oil port T of the second three-position three-way hydraulic reversing valve is communicated with oil P of the third overflow valve, and an oil port T of the third overflow valve is used for being communicated with an oil tank.
Optionally, in the large shaft forging material taking robot, the rotary hydraulic system further includes an oil supplementing pump and a fourth overflow valve, the mechanical arm rotary hydraulic system further includes an eleventh one-way valve, a twelfth one-way valve, a fifth overflow valve, a sixth overflow valve and a ninth two-way reversing valve, an oil port B of the twelfth one-way valve is communicated with a P port of the fifth overflow valve and a T port of the sixth overflow valve, an oil port B of the eleventh one-way valve is communicated with a T port of the fifth overflow valve and a P port of the sixth overflow valve, an oil port a of the twelfth one-way valve and an oil port a of the eleventh one-way valve are respectively communicated with an oil port a of the ninth two-way reversing valve, an oil port B of the ninth two-way reversing valve is communicated with an oil port P of the oil supplementing pump, an oil port P of the oil supplementing pump is communicated with the fourth overflow valve, and an oil port T of the fourth overflow valve is used for being communicated with an oil tank; the clamp rotary hydraulic system further comprises a thirteenth one-way valve, a fourteenth one-way valve, a seventh overflow valve, an eighth overflow valve and a tenth two-way reversing valve, wherein an oil port B of the fourteenth one-way valve is communicated with a P port of the seventh overflow valve and a T port of the eighth overflow valve, an oil port B of the thirteenth one-way valve is connected to the T port of the seventh overflow valve and the P port of the eighth overflow valve through oil pipes, an oil port A of the fourteenth one-way valve and an oil port A of the thirteenth one-way valve are respectively connected to an oil port A of the tenth two-way reversing valve through oil pipes, an oil port B of the tenth two-way reversing valve is connected to an oil port P of a make-up pump through oil pipes, and an oil port P of the make-up pump is communicated with the fourth overflow valve, and an oil port T of the fourth overflow valve is used for being communicated with an oil tank.
Optionally, the large shaft forging material taking robot further includes:
the control system comprises an external displacement sensor, a first pressure sensor and a controller, wherein the external displacement sensor is connected with the controller through an electric signal, the external displacement sensor is used for detecting the position of the clamping device and transmitting the position of the clamping device to the controller, the first pressure sensor is used for detecting the working pressure of the clamping device and transmitting the working pressure of the clamping device to the controller, the second proportional pressure reducing valve is connected with the controller through an electric signal, and the controller is used for timely adjusting the position and the working pressure of the clamping hydraulic system.
Optionally, in the large shaft forging material taking robot, the control system further includes a second pressure sensor, a first encoder, a second encoder and a third encoder which are all connected with the controller in an electric signal manner, the walking hydraulic motor and the first proportional servo valve are all connected with the controller in an electric signal manner, the first encoder is used for detecting the walking speed of the driving wheel and transmitting the walking speed to the controller, and the controller is used for adjusting the walking speed of the driving wheel through the first proportional servo valve and the walking hydraulic motor; the second pressure sensor is used for detecting the oil pressure flowing to the walking hydraulic motor and transmitting the oil pressure to the controller, and the controller is used for adjusting the oil pressure through the first proportional pressure reducing valve and further adjusting the driving force of the driving wheel; the fifth servo motor is in electrical signal connection with the controller, the second encoder is used for detecting the rotation angle of the mechanical arm and transmitting the rotation angle to the controller, and the controller adjusts the rotation angle of the mechanical arm by controlling the work of the fifth servo motor; the sixth servo motor is in electrical signal connection with the controller, the third encoder is used for detecting the rotation angle of the clamping device and transmitting the rotation angle to the controller, and the controller adjusts the rotation angle of the clamping device by controlling the work of the sixth servo motor.
Optionally, the large shaft forging material taking robot further includes:
the nondestructive testing device comprises at least two ultrasonic flaw detectors which are symmetrically arranged on two sides of the guide rail and are used for detecting cracks or inclusions in the large shaft forging.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a schematic structural diagram of a large shaft forging material taking robot provided by an embodiment of the invention;
FIG. 2 is an assembly schematic diagram of a clamping device, a clamping rotary hydraulic motor and a nondestructive testing device of a large shaft forging material taking robot provided by the embodiment of the invention;
fig. 3 is a schematic structural view of a clamp assembly of a large shaft forging material taking robot according to an embodiment of the present invention;
fig. 4 is a first structural schematic diagram of a traveling device of a large shaft forging material taking robot provided by an embodiment of the invention;
fig. 5 is a second structural schematic diagram of a traveling device of a large shaft forging material taking robot provided by the embodiment of the invention;
Fig. 6 is a schematic structural diagram of a lifting device of a large shaft forging material taking robot according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a mechanical arm rotating device of a large shaft forging material taking robot provided by the embodiment of the invention;
fig. 8 is a schematic diagram of a clamp adjusting hydraulic system of a large shaft forging material taking robot provided by the embodiment of the invention;
fig. 9 is a schematic diagram of a walking hydraulic system of a large shaft forging material taking robot provided by the embodiment of the invention;
fig. 10 is a schematic diagram of a first lifting hydraulic system, a second lifting hydraulic system, a third lifting hydraulic system and a fourth lifting hydraulic system of a large shaft forging material taking robot according to an embodiment of the present invention;
fig. 11 is a schematic diagram of a rotary hydraulic system of a large shaft forging material taking robot provided by the embodiment of the invention.
Reference numerals:
10-clamping means; 101-a guide rail; 102-clamp adjusting hydraulic cylinders; 103-a clamp assembly; 1031-clamp telescopic hydraulic cylinders; 1032—a linkage mechanism; 1033-clamping; 1034-a guide sleeve; 11-clamp hydraulic system; 111-clamp adjustment hydraulic system; 1111-a second proportional pressure reducing valve; 1112-fourth pilot operated check valve; 1113-a fifth hydraulically controlled check valve; 1114-sixth pilot operated check valve; 1115-a second electromagnetic ball valve; 1116-a second pressure reducing valve; 1117-a second proportional servo valve; 1118-a second check valve; 112-clamp telescopic hydraulic system; 1121-three-position four-way electromagnetic reversing valve; 1122-hydraulic lock; 1123-a third pressure relief valve; 1124-throttle speed valve; 1125-a first overflow valve; 12-a walking device; 121-a walking hydraulic motor; 122-driving wheel; 13-a walking hydraulic system; 131-a first proportional pressure reducing valve; 132-a first pilot operated check valve; 133-a second hydraulically controlled check valve; 134-a third pilot operated check valve; 135-a first electromagnetic ball valve; 136-a first pressure reducing valve; 137-first proportional servo valve; 138-a first one-way valve; 14-lifting means; 141-a boom; 142-big arm; 143-forearm; 144-forearm; 145-rotating the base; 146-first lifting hydraulic cylinder; 147-a second lifting hydraulic cylinder; 148-a third lifting hydraulic cylinder; 149-fourth lifting hydraulic cylinder; 15-a first lifting hydraulic system; 151-a first servo motor; 152-a first variable displacement pump; 153-a second variable displacement pump; 154-a third one-way valve; 155-fourth one-way valve; 156-a first two-position two-way reversing valve; 157-a second two-position two-way reversing valve; 158-a first accumulator bank; 16-a second lifting hydraulic system; 161-a second servo motor; 162-a third variable displacement pump; 163-fourth variable displacement pump; 164-a fifth one-way valve; 165-sixth one-way valve; 166-third two-position two-way reversing valve; 167-a fourth two-position two-way reversing valve; 168-a second accumulator set; 17-a third lifting hydraulic system; 171-a third servo motor; 172-a fifth variable displacement pump; 173-a sixth variable displacement pump; 174-seventh one-way valve; 175-eighth one-way valve; 176-a fifth two-position two-way reversing valve; 177-a sixth two-position two-way reversing valve; 178-a third accumulator set; 18-a fourth lifting hydraulic system; 181-a fourth servo motor; 182-seventh variable displacement pump; 183-eighth variable displacement pump; 184-ninth one-way valve; 185-tenth one-way valve; 186-seventh two-position two-way reversing valve; 187-eighth two-position two-way reversing valve; 188-fourth accumulator set; 19-a mechanical arm rotating device; 191-a mechanical arm rotary hydraulic motor; 192-a gear assembly; 193-turntable; 20-clamp rotary hydraulic motor; 21-a rotary hydraulic system; 211-a mechanical arm rotating hydraulic system; 2111-fifth servo motor; 2112-ninth variable displacement pump; 2113-a first three-position three-way hydraulic reversing valve; 2114-a second overflow valve; 2115-eleventh check valve; 2116-twelfth check valve; 2117-a fifth overflow valve; 2118-sixth overflow valves; 2119-ninth two-position two-way reversing valve; 212-a clamp rotary hydraulic system; 2121-sixth servo motor; 2122-tenth variable displacement pump; 2123-a second three-position three-way hydraulic reversing valve; 2124-a third overflow valve; 2125-thirteenth one-way valve; 2126-fourteenth check valve; 2127-seventh relief valve; 2128-eighth relief valve; 2129-tenth two-position two-way reversing valve; 213-a make-up pump; 214-a fourth overflow valve; 22-a control system; 221-an external displacement sensor; 222-a controller; 223-a second pressure sensor; 224-a first encoder; 225-a first pressure sensor; 226-a second encoder; 227-a third encoder; 23-a nondestructive testing device; 231-ultrasonic flaw detector; 24-main pressure oil pipe; 25-a main oil return pipe; 26-controlling oil pipe; 27-oil drain pipe.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise. The meaning of "a number" is one or more than one unless specifically defined otherwise.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The ultra-large shaft forging is produced by a hydraulic press with the weight of more than 1 ten thousand tons or hot forging equipment with the weight of more than 4 ten thousand tons, is mainly applied to key core parts of high-end equipment, is a basic part for manufacturing heavy equipment, and reflects the extreme manufacturing capacity and the manufacturing level of China. The ultra-large shaft forging is mainly applied to national key engineering and national defense projects and construction of important infrastructure, for example: aerospace, marine equipment, ships, nuclear power, thermal power, wind power, rail transit, petrochemical industry, metallurgy, new energy and other fields. In the process of processing the ultra-large shaft forgings, the material is taken from the heating furnace, the stock surface is turned over and the later-stage transportation is very inconvenient, meanwhile, the existing shaft forgings taking device clamps the clamping jaw fixedly connected with the mechanical arm through a motor or a cylinder, the clamping force is small, the gap between different clamping jaws is inconvenient to adjust when the shaft forgings with different lengths are clamped, the application range is narrow, workers or a movable crown block is required to carry out auxiliary operation in the working process, the working noise of the movable crown block is large, and the labor intensity of workers is high.
In order to solve the above problems, as shown in fig. 1, 2 and 8, an embodiment of the present invention provides a large shaft forging material taking robot, which includes a clamping device 10, a clamping hydraulic system 11 and a traveling device 12, wherein the clamping device 10 includes a guide rail 101, at least two clamping adjustment hydraulic cylinders 102 and at least two groups of clamping assemblies 103, each clamping adjustment hydraulic cylinder 102 is in power connection with a corresponding clamping assembly 103, the clamping assemblies 103 are in sliding connection with the guide rail 101, and the clamping assemblies 103 are used for clamping large shaft forging materials; the clamp hydraulic system 11 is in power connection with the clamp adjusting hydraulic cylinder 102 and is used for driving the clamp assembly 103 to slide on the guide rail 101; the running gear 12 is connected with clamping device 10 for driving clamping device 10 motion, adjusting clamping device 10 relative large-scale axle class forging's horizontal position.
In the working process, after the traveling device 12 drives the clamp device 10 to move to a corresponding position, the clamp hydraulic system 11 controls the clamp adjusting hydraulic cylinder 102 to work, so that the clamp assemblies 103 are driven to slide on the guide rail 101, the distances between different clamp assemblies 103 are adjusted, each clamp assembly 103 is enabled to slide to a corresponding position of a large shaft forging, and then after the clamp assemblies 103 clamp and fix the large shaft forging, the traveling device 12 drives the clamp device 10 to move, so that the large shaft forging is carried.
According to the structure and the specific working process of the large shaft forge piece material taking robot, the clamp device 10 of the large shaft forge piece material taking robot provided by the embodiment of the invention comprises the guide rail 101, at least two clamp adjusting hydraulic cylinders 102 and at least two clamp assemblies 103, when large shaft forge pieces are taken and conveyed, the clamp hydraulic system 11 can control the expansion and the contraction of the piston rods of the clamp adjusting hydraulic cylinders 102 so as to drive the clamp assemblies 103 to slide on the guide rail 101, when the length of the large shaft forge pieces is shorter, the two clamp assemblies 103 with the farthest distance can move in opposite directions, the distance between the two clamp assemblies 103 is reduced, and therefore all the clamp assemblies 103 can clamp the large shaft forge pieces, when the length of the large shaft forge pieces is longer, the distance between the two clamp assemblies 103 with the farthest distance can move in the opposite directions, and the unstable clamping of the large shaft forge pieces due to the fact that the distance between the clamp assemblies 103 is far smaller than the length of the large shaft forge pieces is avoided; in addition, the traveling device 12 can drive the clamping device 10 and the large shaft forging to move, so that the manual work intensity is reduced. Compared with the prior art, the large shaft forging material taking robot provided by the embodiment of the invention can adjust the distances between different clamp assemblies 103 through the clamp hydraulic system 11 to enable the distances to be matched with the lengths of large shaft forgings to be clamped, so that the material taking and carrying of the oversized shaft forgings with different sizes are realized, the clamping stability of the large shaft forgings in the clamping and carrying processes is ensured, the traveling device 12 can drive the clamp device 10 and the large shaft forgings to move, the manual working intensity is reduced, the movement is convenient, and the degree of automation is improved.
Specifically, as shown in fig. 1, 3 and 4, in the above-mentioned large shaft forging material taking robot, the traveling device 12 includes at least 4 traveling hydraulic motors 121 and at least 4 driving wheels 122, each driving wheel 122 is in power connection with a corresponding traveling hydraulic motor 121, and the traveling hydraulic motor 121 is used for controlling the movement of the driving wheel 122. The corresponding driving wheels 122 are respectively controlled to move through different walking hydraulic motors 121, when the vehicle needs to advance, each driving wheel 122 positively rotates at the same speed, when the vehicle needs to retreat, each driving wheel 122 reversely rotates at the same speed, and when the vehicle needs to turn, the movement speed of different driving wheels 122 is different or only one driving wheel 122 moves, so that the vehicle can rotate leftwards or rightwards.
As an alternative, as shown in fig. 9, the large shaft forging material taking robot further includes a main pressure oil pipe 24, a main oil return pipe 25, a control oil pipe 26, an oil drain pipe 27, and at least 4 groups of traveling hydraulic systems 13, where each group of traveling hydraulic systems 13 includes a first proportional pressure reducing valve 131, a first pilot-operated check valve 132, a second pilot-operated check valve 133, a third pilot-operated check valve 134, a first electromagnetic ball valve 135, a first pressure reducing valve 136, a first proportional servo valve 137, and a first check valve 138, an oil port B of the first proportional pressure reducing valve 131 is communicated with the main pressure oil pipe 24, an oil port a of the first proportional pressure reducing valve 131 is communicated with an oil port B of the first pilot-operated check valve 132, an oil port a of the first pilot-operated check valve 132 is communicated with an oil port a of the first pressure reducing valve 136, an oil port B of the first pressure reducing valve 136 is communicated with an oil port P of the first proportional servo valve 137, the oil port A of the first proportional servo valve 137 is communicated with the oil port A of the second hydraulic check valve 133, the oil port B of the second hydraulic check valve 133 is communicated with the oil port A of the traveling hydraulic motor 121, the oil port B of the traveling hydraulic motor 121 is communicated with the oil port B of the third hydraulic check valve 134, the oil port A of the third hydraulic check valve 134 is communicated with the oil port B of the first proportional servo valve 137, the oil port T of the first proportional servo valve 137 is communicated with the oil port A of the first check valve 138, the oil port B of the first check valve 138 is communicated with the main oil return pipe 25, the X port of the first hydraulic check valve 132, the X port of the second hydraulic check valve 133 and the X port of the third hydraulic check valve 134 are all communicated with the A port of the first electromagnetic ball valve 135, the Y ports of the first hydraulic check valve 132, the second hydraulic check valve 133 and the third hydraulic check valve 134 are all communicated with the oil drain pipe 27, the P port of the first electromagnetic valve 135 is communicated with the control oil pipe 26, the T-port of the first electromagnetic ball valve 135 is communicated with the main oil return pipe 25, and each group of traveling hydraulic systems 13 is used for controlling the movement speed of the corresponding driving wheel 122. So set up, through the work of at least 4 group walking hydraulic system 13 control corresponding walking hydraulic motor 121 respectively, and then the motion speed of control action wheel 122 that corresponds, realize four action wheels 122's individual control, and then realize advancing, backing, left or right rotation.
Specifically, as shown in fig. 3, in the large shaft forging material taking robot, each clamp assembly 103 includes a clamp telescopic hydraulic cylinder 1031, a link mechanism 1032, at least two clamps 1033 and a guide sleeve 1034, and the clamp telescopic hydraulic cylinder 1031 is in power connection with the clamp hydraulic system 11; the link mechanism 1032 is in dynamic connection with the clamp telescopic hydraulic cylinder 1031; each clamp 1033 is rotatably coupled to a linkage 1032; the clamp telescopic hydraulic cylinder 1031 and the link mechanism 1032 are both connected with a guide sleeve 1034, the guide sleeve 1034 is in sliding connection with the guide rail 101, and the guide sleeve 1034 is in power connection with the clamp adjusting hydraulic cylinder 102. The piston rod of the clamp telescopic hydraulic cylinder 1031 drives the link mechanism 1032 to move, and then drives at least two clamps 1033 to relatively approach or separate, so as to realize clamping or loosening actions, and the clamp adjusting hydraulic cylinder 102 drives the clamp assembly 103 to slide on the guide rail 101 through the guide sleeve 1034.
As an alternative, as shown in fig. 8, the large shaft forging material taking robot further includes a main pressure oil pipe 24, a main oil return pipe 25, a control oil pipe 26, and an oil drain pipe 27, the clamp hydraulic system 11 includes at least two clamp adjustment hydraulic systems 111 and at least two clamp expansion hydraulic systems 112, the clamp adjustment hydraulic systems 111 include a second proportional pressure reducing valve 1111, a fourth pilot operated check valve 1112, a fifth pilot operated check valve 1113, a sixth pilot operated check valve 1114, a second electromagnetic ball valve 1115, a second pressure reducing valve 1116, a second proportional servo valve 1117, and a second check valve 1118, an oil port B of the second proportional pressure reducing valve 1111 is in communication with the main pressure oil pipe 24, an oil port a of the second proportional pressure reducing valve 1111 is in communication with an oil port B of the fourth pilot operated check valve 1112, an oil port B of the second pressure reducing valve 1116 is in communication with an oil port P of the second proportional pressure reducing valve 1117, an oil port a of the second proportional pressure reducing valve 1117 is in communication with an oil port a of the fifth pilot operated check valve 1113, an oil port B of the fifth proportional pressure reducing valve 1113 is in communication with an oil port B of the fifth pilot operated check valve 1113, an oil port B of the fifth pilot operated check valve 1114 is in communication with an oil port B of the fourth pilot operated check valve 11125, an oil port B of the fourth pilot operated check valve 1114 is in communication with an oil port B of the fourth pilot operated check valve 1112 is in communication with an oil port B of the fourth pilot operated check valve 1114, an oil port B of the fifth pilot operated check valve 1114 is in communication with an oil port B of the fifth pilot valve 11117, an oil port B is in communication with an oil port B is of the fifth pilot valve joint, an oil port B is of the fifth valve joint, an is of the fifth valve 11117 is of the fifth valve 1113 is a, an valve is of the fifth valve is a fifth valve is a, the P port of the second electromagnetic ball valve 1115 is communicated with the control oil pipe 26, the T port of the second electromagnetic ball valve 1115 is communicated with the main oil return pipe 25, and the clamp adjusting hydraulic system 111 is used for controlling the clamp assembly 103 to slide on the guide rail 101; the clamp telescopic hydraulic system 112 comprises a three-position four-way electromagnetic directional valve 1121, a hydraulic lock 1122, a third pressure reducing valve 1123, a throttle speed regulating valve 1124 and a first overflow valve 1125, wherein an oil port P of the three-position four-way electromagnetic directional valve 1121 is communicated with a main pressure oil pipe 24, an oil port T of the three-position four-way electromagnetic directional valve 1121 is communicated with a main oil return pipe 25, an oil port X and an oil port P of the first overflow valve 1125 are both communicated with an oil port A of the clamp telescopic hydraulic cylinder 1031, an oil port T of the first overflow valve 1125 is communicated with the main oil return pipe 25, and the three-position four-way electromagnetic directional valve 1121, the hydraulic lock 1122, the third pressure reducing valve 1123 and the throttle speed regulating valve 1124 are combined together in a superposition installation mode and are communicated with the clamp telescopic hydraulic cylinder 1031, and the clamp telescopic hydraulic system 112 is used for controlling relative approaching or separating of the two clamps 3. So set up, control the slip on the guide rail 101 of corresponding clamp assembly 103 respectively through at least two clamp adjustment hydraulic system 111, and then adjust the distance between the clamp assembly 103, adjust the relative close or keep away from of two clamps 1033 of corresponding clamp assembly 103 through at least two clamp flexible hydraulic system 112, and then carry out centre gripping or loosen to large-scale axle class forging.
Specifically, as shown in fig. 6, the large shaft forging material taking robot further includes a lifting device 14, where the lifting device 14 includes a movable arm 141, a large arm 142, a small arm 143, a front arm 144, a rotating base 145, a first lifting hydraulic cylinder 146, a second lifting hydraulic cylinder 147, a third lifting hydraulic cylinder 148 and a fourth lifting hydraulic cylinder 149, a first end of the movable arm 141 is rotatably connected with the rotating base 145, a second end of the movable arm 141 is rotatably connected with a first end of the large arm 142, a second end of the large arm 142 is rotatably connected with a first end of the small arm 143, a first end of the front arm 144 and the clamp device 10 are respectively rotatably connected with a second end of the small arm 143, a second end of the front arm 144 is connected with the clamp device 10, the first lifting hydraulic cylinder 146 is fixedly connected with the rotating base 145, an output end of the first lifting hydraulic cylinder 146 is dynamically connected with a second end of the movable arm 141, an output end of the second lifting hydraulic cylinder 147 is dynamically connected with the large arm 142, a third lifting hydraulic cylinder 148 is fixedly connected with the large arm 142, a first end of the large arm 142 is rotatably connected with the small arm 149, an output end of the third lifting hydraulic cylinder 148 is fixedly connected with the small arm 143, and a fourth lifting hydraulic cylinder 149 is fixedly connected with the front arm 144. The first lifting hydraulic cylinder 146 controls the relative pose of the movable arm 141, so as to adjust the rotation angle of the movable arm 141, the second lifting hydraulic cylinder 147 controls the relative pose of the large arm 142, so as to adjust the rotation angle of the large arm 142 relative to the movable arm 141, the third lifting hydraulic cylinder 148 controls the relative pose of the small arm 143, so as to adjust the rotation angle of the small arm 143 relative to the large arm 142, the fourth lifting hydraulic cylinder 149 controls the relative pose of the front arm 144, so as to adjust the rotation angle of the front arm 144 relative to the small arm 143, so as to realize lifting or lowering of the clamp device 10, and the position of the clamp device 10 is adjusted.
Specifically, as shown in fig. 10, the large shaft forging material taking robot further includes a first lifting hydraulic system 15, where the first lifting hydraulic system 15 includes a first servo motor 151, a first variable pump 152, a second variable pump 153, a third check valve 154, a fourth check valve 155, a first two-way reversing valve 156, a second two-way reversing valve 157 and a first accumulator group 158, the first variable pump 152 and the second variable pump 153 are coaxially installed with the first servo motor 151, an a port of the first variable pump 152 is communicated with an a port of the second two-way reversing valve 157, an oil port B of the second two-way reversing valve 157 is communicated with an oil port a of the first lifting hydraulic cylinder 146, an oil port B of the first lifting hydraulic cylinder 146 is communicated with an oil port B of the first two-way reversing valve 156, oil ports B of the first variable pump 152 and an oil port B of the second variable pump 153 are both communicated with an oil port a of the first two-way reversing valve 156, an oil port a of the second variable pump 153 is communicated with an oil port a of the first accumulator group of the first two-way reversing valve 158, an oil port B of the second variable pump 153 is communicated with an oil port a of the fourth reversing valve 155, and an oil port B of the second two-way reversing valve 158 is communicated with an oil port a of the fourth reversing valve of the first two-way reversing valve 155; the control platform inputs instructions to the controller 222 so as to drive the first servo motor 151 to work, the first variable pump 152 and the second variable pump 153 are coaxially arranged on the first servo motor 151, the first lifting hydraulic system 15 and the first lifting hydraulic cylinder 146 form a closed system through the first variable pump 152 to adjust the extending speed of a piston rod of the first lifting hydraulic cylinder 146, an oil port B of the second variable pump 153 is connected with a rodless cavity of the first lifting hydraulic cylinder 146, an oil port A of the second variable pump 153 is connected with the first energy accumulator group 158, and therefore asymmetric oil supply is achieved, and pressure impact caused by unequal cavity areas during reversing work of the first lifting hydraulic cylinder 146 is reduced.
Specifically, the large shaft forging reclaiming robot further includes a second lifting hydraulic system 16, where the second lifting hydraulic system 16 includes a second servo motor 161, a third variable pump 162, a fourth variable pump 163, a fifth check valve 164, a sixth check valve 165, a third two-way reversing valve 166, a fourth two-way reversing valve 167 and a second accumulator set 168, the third variable pump 162 and the fourth variable pump 163 are coaxially installed with the second servo motor 161, an opening a of the third variable pump 162 is communicated with an opening a of the fourth two-way reversing valve 167, an opening B of the fourth two-way reversing valve 167 is communicated with an opening a of the second lifting hydraulic cylinder 147, an opening B of the second lifting hydraulic cylinder 147 is communicated with an opening B of the third two-way reversing valve 166, an opening B of the third variable pump 162 and an opening B of the fourth variable pump 163 are all communicated with an opening a of the third two-way reversing valve 166, an opening a of the fourth variable pump 162 is communicated with an opening B of the fourth two-way reversing valve 168, and an opening B of the fourth two-way reversing valve 168 is communicated with an opening B of the fourth two-way reversing valve 166. The control platform inputs instructions to the controller 222 so as to drive the second servo motor 161 to work, the second servo motor 161 is coaxially provided with the third variable pump 162 and the fourth variable pump 163, the second lifting hydraulic system 16 and the second lifting hydraulic cylinder 147 form a closed system through the third variable pump 162 to adjust the extending speed of a piston rod of the second lifting hydraulic cylinder 147, an oil port B of the fourth variable pump 163 is connected with a rodless cavity of the second lifting hydraulic cylinder 147, and an oil port A of the fourth variable pump 163 is connected with the second energy accumulator group 168, so that asymmetric oil supply is realized, and pressure impact caused by unequal areas of large and small cavities during reversing work of the second lifting hydraulic cylinder 147 is reduced.
Specifically, the large shaft forging material taking robot further includes a third lifting hydraulic system 17, the third lifting hydraulic system 17 includes a third servo motor 171, a fifth variable pump 172, a sixth variable pump 173, a seventh one-way valve 174, an eighth one-way valve 175, a fifth two-way reversing valve 176, a sixth two-way reversing valve 177 and a third accumulator set 178, the fifth variable pump 172 and the sixth variable pump 173 are coaxially installed with the third servo motor 171, an opening a of the fifth variable pump 172 is communicated with an opening a of the sixth two-way reversing valve 177, an opening B of the sixth two-way reversing valve 177 is communicated with an opening a of the third lifting hydraulic cylinder 148, an opening B of the third lifting hydraulic cylinder 148 is communicated with an opening B of the fifth two-way reversing valve 176, an opening B of the fifth variable pump 172 and an opening B of the sixth variable pump 173 are both communicated with an opening a of the fifth two-way reversing valve 176, an opening a of the sixth variable pump 173 is communicated with an opening a of the seventh two-way reversing valve 174, an opening B of the seventh two-way valve 174 is communicated with an opening B of the eighth two-way reversing valve 176, an opening B of the sixth variable pump 173 is communicated with an opening a of the seventh two-way valve 174 is communicated with an opening B of the seventh two-way valve 174; the control platform inputs instructions to the controller 222 to drive the third servo motor 171 to work, the third servo motor 171 is coaxially provided with the fifth variable pump 172 and the sixth variable pump 173, the third lifting hydraulic system 17 and the third lifting hydraulic cylinder 148 form a closed system to adjust the extending speed of a piston rod of the third lifting hydraulic cylinder 148 through the fifth variable pump 172, an oil port B of the sixth variable pump 173 is connected with a rodless cavity of the third lifting hydraulic cylinder 148, an oil port A of the sixth variable pump 173 is connected with the third energy accumulator group 178, and therefore asymmetric oil supply is achieved, and pressure impact caused by unequal cavity areas during reversing work of the third lifting hydraulic cylinder 148 is reduced.
Specifically, the large-shaft forge piece material taking robot further includes a fourth lifting hydraulic system 18, the fourth lifting hydraulic system 18 includes a fourth servo motor 181, a seventh variable pump 182, an eighth variable pump 183, a ninth one-way valve 184, a tenth one-way valve 185, a seventh two-way reversing valve 186, an eighth two-way reversing valve 187 and a fourth accumulator group 188, the seventh variable pump 182 and the eighth variable pump 183 are coaxially installed with the fourth servo motor 181, an opening a of the seventh variable pump 182 is communicated with an opening a of the eighth two-way reversing valve 187, an opening B of the eighth two-way reversing valve 187 is communicated with an opening a of the fourth lifting hydraulic cylinder 149, an opening B of the fourth lifting hydraulic cylinder 149 is communicated with an opening B of the seventh two-way reversing valve 186, an opening B of the seventh variable pump 182 and an opening B of the eighth variable pump 183 are both communicated with an opening a of the seventh two-way reversing valve 186, an opening a of the eighth variable pump 183 is communicated with an opening a of the fourth accumulator group 188, an opening B of the eighth variable pump 184 is communicated with an opening a of the ninth two-way valve 185, and an opening B of the eighth two-way valve 185 is communicated with an opening B of the eighth two-way valve 185. The control platform inputs instructions to the controller 222 so as to drive the fourth servo motor 181 to work, the fourth servo motor 181 is coaxially provided with a seventh variable pump 182 and an eighth variable pump 183, the fourth lifting hydraulic system 18 forms a closed system with the fourth lifting hydraulic cylinder 149 through the seventh variable pump 182 to adjust the extending speed of a piston rod of the fourth lifting hydraulic cylinder 149, an oil port B of the eighth variable pump 183 is connected with a rodless cavity of the fourth lifting hydraulic cylinder 149, and an oil port A of the eighth variable pump 183 is connected with the fourth energy accumulator group 188, so that asymmetric oil supply is realized, and pressure impact caused by unequal areas of large and small cavities during reversing operation of the fourth lifting hydraulic cylinder 149 is reduced.
Specifically, as shown in fig. 4 and 7, the large-shaft forging material taking robot further includes a mechanical arm rotating device 19 and a clamp rotating hydraulic motor 20, the mechanical arm rotating device 19 includes a mechanical arm rotating hydraulic motor 191, a gear transmission assembly 192 and a turntable 193, the mechanical arm rotating hydraulic motor 191 is in power connection with the gear transmission assembly 192, and the gear transmission assembly 192 is in transmission connection with the turntable 193; the output of the clamp rotary hydraulic motor 20 is in power connection with the clamp device 10 for controlling the rotation of the clamp device 10. The driving force generated by the mechanical arm rotating hydraulic motor 191 is transmitted to the turntable 193 through the gear transmission assembly 192, the turntable 193 is fixedly connected with the rotating base 145, the turntable 193 is driven to rotate by the forward rotation or the reverse rotation of the mechanical arm rotating hydraulic motor 191, and the 360-degree rotary motion of the mechanical arm is realized by the rotating base 145; the clamp rotary hydraulic motor 20 rotates in the forward or reverse direction to effect rotation of the clamp device.
As an alternative, as shown in fig. 11, the large shaft forging material taking robot further includes a rotary hydraulic system 21, where the rotary hydraulic system 21 includes a mechanical arm rotary hydraulic system 211 and a clamp rotary hydraulic system 212, the mechanical arm rotary hydraulic system 211 includes a fifth servomotor 2111, a ninth variable pump 2112, a first three-position three-way hydraulic reversing valve 2113 and a second overflow valve 2114, the fifth servomotor 2111 is coaxial with the ninth variable pump 2112, an oil port a of the ninth variable pump 2112 is communicated with an oil port a of the mechanical arm rotary hydraulic motor 191, an oil port B of the mechanical arm rotary hydraulic motor 191 is communicated with an oil port B of the ninth variable pump 2112, an oil port a of the first three-position three-way hydraulic reversing valve 2113 is communicated with an oil port B of the mechanical arm rotary hydraulic motor 191, an oil port T of the first three-way hydraulic reversing valve 2113 is communicated with an oil port P of the second overflow valve 2114, and an oil port T of the second overflow valve 2114 is used for communicating with an oil tank 2114; the clamp rotary hydraulic system 212 includes a sixth servo motor 2121, a tenth variable pump 2122, a second three-position three-way hydraulic directional valve 2123, and a third relief valve 2124, the sixth servo motor 2121 is coaxial with the tenth variable pump 2122, an oil port a of the tenth variable pump 2122 is communicated with an oil port a of the clamp rotary hydraulic motor 20, an oil port B of the clamp rotary hydraulic motor 20 is communicated with an oil port B of the tenth variable pump 2122, an oil port a of the second three-position three-way hydraulic directional valve 2123 is communicated with an oil port a of the clamp rotary hydraulic motor 20, an oil port B of the second three-position three-way hydraulic directional valve 2123 is communicated with an oil port B of the clamp rotary hydraulic motor 20, an oil port T of the second three-position three-way hydraulic directional valve 2123 is communicated with an oil P of the third relief valve 2124, and an oil port T of the third relief valve 2124 is used for communicating with an oil tank. When the mechanical arm rotary hydraulic motor 191 rotates positively, the port A side of the mechanical arm rotary hydraulic motor 191 is ase:Sub>A high-pressure pipeline, the port B side of the mechanical arm rotary hydraulic motor 191 is ase:Sub>A low-pressure pipeline, when the pressure difference value between the high-pressure pipeline and the low-pressure pipeline is larger than 0.5 MPase:Sub>A, the left valve core of the first three-position three-way hydraulic reversing valve 2113 is communicated, part of hot hydraulic oil of the low-pressure pipeline flows into an oil tank through the B-T channel of the first three-position three-way hydraulic reversing valve 2113 and the P-T channel of the second overflow valve 2114, meanwhile, the electromagnet YVH4 is electrified, hydraulic oil of the oil supplementing pump 213 flows into the low-pressure loop through the B-A channel of the ninth two-position two-way reversing valve 2119 and the A-B channel of the eleventh one-way valve 2115 to replace the discharged hot oil, and when the pressure difference value between the high-pressure pipeline and the low-pressure pipeline is smaller than 0.5 MPase:Sub>A, the valve core of the first three-position three-way hydraulic reversing valve 2113 is in non-working, and the hydraulic oil output by the oil supplementing pump 213 flows back into the oil tank through the fourth overflow valve 214; when the clamp rotary hydraulic motor 20 rotates positively, the port A side of the clamp rotary hydraulic motor 20 is ase:Sub>A high-pressure pipeline, the port B side is ase:Sub>A low-pressure pipeline, when the pressure difference value of the high-pressure pipeline and the low-pressure pipeline is larger than 0.5 MPase:Sub>A, the valve core of the second three-position three-way hydraulic reversing valve 2123 is communicated left, part of hot hydraulic oil of the low-pressure pipeline flows into an oil tank through the B-T channel of the second three-position three-way hydraulic reversing valve 2123 and the P-T channel of the third overflow valve 2124, meanwhile, the electromagnet is electrified, hydraulic oil of the oil supplementing pump 213 flows into the low-pressure loop through the B-A channel of the tenth two-way reversing valve 2129 and the A-B channel of the thirteenth one-way valve 2125 to replace the discharged hot oil, when the pressure difference value of the high-pressure pipeline and the low-pressure pipeline is smaller than 0.5 MPase:Sub>A, the valve core of the second three-position three-way hydraulic reversing valve 2123 is in ase:Sub>A neutral position and does not work, and the hydraulic oil output by the oil pump 213 flows back to the oil tank through the fourth overflow valve 214 at this time, the arrangement is realized, the mechanical arm rotary hydraulic motor 191 is controlled by the mechanical arm rotary system 211, and the mechanical arm rotary hydraulic motor is driven to rotate, and the mechanical arm 145 is driven to rotate 360 DEG to rotate; the rotation of the clamp apparatus 10 is achieved by controlling the operation of the clamp rotary hydraulic motor 20 by the clamp rotary hydraulic system 212.
In some embodiments, in the large shaft forging material taking robot, the rotary hydraulic system 21 further includes an oil compensating pump 213 and a fourth overflow valve 214, the mechanical arm rotary hydraulic system 211 further includes an eleventh check valve 2115, a twelfth check valve 2116, a fifth overflow valve 2117, a sixth overflow valve 2118, and a ninth two-way reversing valve 2119, an oil port B of the twelfth check valve 2116 is communicated with a P port of the fifth overflow valve 2117 and a T port of the sixth overflow valve 2118, an oil port B of the eleventh check valve 2115 is communicated with a T port of the fifth overflow valve 2117 and a P port of the sixth overflow valve 2118, an oil port a of the twelfth check valve 2116 and an oil port a of the eleventh check valve 2115 are respectively communicated with an oil port a of the ninth two-way reversing valve 2119, an oil port B of the ninth two-way reversing valve 2119 is communicated with an oil port P of the oil compensating pump 213, an oil port P of the oil compensating pump 213 is communicated with the fourth overflow valve 214, and an oil port T of the fourth overflow valve 214 is used for communicating with an oil tank; the clamp rotary hydraulic system 212 further includes a thirteenth one-way valve 2125, a fourteenth one-way valve 2126, a seventh relief valve 2127, an eighth relief valve 2128, and a tenth two-way directional valve 2129, an oil port B of the fourteenth one-way valve 2126 communicates with a P port of the seventh relief valve 2127 and a T port of the eighth relief valve 2128, an oil port B of the thirteenth one-way valve 2125 is coupled to the T port of the seventh relief valve 2127 and the P port of the eighth relief valve 2128 through oil pipes, an oil port a of the fourteenth one-way valve 2126 and an oil port a of the thirteenth one-way valve 2125 are coupled to an oil port a of the tenth two-way directional valve 2129 through oil pipes, an oil port B of the tenth two-way directional valve 2129 is coupled to an oil port P of the oil compensating pump 213, an oil port P of the oil compensating pump 213 communicates with the fourth relief valve 214, and an oil port T of the fourth relief valve 214 is used to communicate with an oil tank.
Specifically, the large shaft forging material taking robot further comprises a control system 22, the control system 22 comprises an external displacement sensor 221, a first pressure sensor 225 and a controller 222 which are connected through electric signals, the external displacement sensor 221 is used for detecting the position of the clamp device 10 and transmitting the position to the controller 222, the first pressure sensor 225 is used for detecting the working pressure of the clamp device 10 and transmitting the working pressure to the controller 222, the second proportional pressure reducing valve 1111 is connected with the controller 222 through electric signals, and the controller 222 is used for timely adjusting the position and the working pressure of the clamp hydraulic system 11. The second proportional servo valve 1117 is electrically connected with the controller 222, the external displacement sensor 221 is used for detecting the position of the piston rod of the clamp adjustment hydraulic cylinder 102 and transmitting the detected position to the controller 222, the controller 222 is used for adjusting the valve core opening degree of the second proportional servo valve 1117 so as to adjust the position of the piston rod of the clamp adjustment hydraulic cylinder 102 and the clamp assembly 103, accordingly, the size requirements of different oversized shaft forgings can be met, the first pressure sensor 225 is used for detecting the working pressure of the clamp adjustment hydraulic cylinder 102 and transmitting the working pressure to the controller 222, and the controller 222 is used for adjusting the oil pressure through the second proportional pressure reducing valve 1111.
In some embodiments, control system 22 includes a control platform for inputting instructions to controller 222. So set up, the staff can be through control platform to the controller 222 input instruction, then through the work of each position of controller 222 control large-scale axle class forging extracting robot.
As a possible way, in the above-mentioned large shaft forging material taking robot, the control system 22 further includes a second pressure sensor 223, a first encoder 224, a second encoder 226 and a third encoder 227 all electrically connected to the controller 222, the traveling hydraulic motor 121 and the first proportional servo valve 137 are all electrically connected to the controller 222, the first encoder 224 is used for detecting the traveling speed of the driving wheel 122 and transmitting the traveling speed to the controller 222, and the controller 222 is used for adjusting the traveling speed of the driving wheel 122 in a closed-loop manner by forming a speed loop through the first proportional servo valve 137 and the traveling hydraulic motor 121; the second pressure sensor 223 is used for detecting the oil pressure flowing to the walking hydraulic motor 121 and transmitting the oil pressure to the controller 222, and the controller 222 is used for adjusting the oil pressure through the first proportional reducing valve 131 and further adjusting the driving force of the driving wheel 122; the fifth servo motor 2111 is electrically connected to the controller 222, the second encoder 226 is configured to detect a rotation angle of the mechanical arm and transmit the rotation angle to the controller 222, and the controller 222 adjusts the rotation angle of the mechanical arm by controlling the working state of the fifth servo motor 2111; the sixth servo motor 2121 is electrically connected to the controller 222, and the third encoder 227 is configured to detect a rotation angle of the clamping device 10 and transmit the rotation angle to the controller 222, where the controller 222 adjusts the rotation angle of the clamping device 10 by controlling an operation state of the sixth servo motor 2121.
Specifically, the material taking robot for large shaft forgings further comprises a nondestructive testing device 23, the nondestructive testing device 23 comprises at least two ultrasonic flaw detectors 231, the ultrasonic flaw detectors 231 are symmetrically arranged on two sides of the guide rail 101, and the ultrasonic flaw detectors 231 are used for detecting cracks or inclusions in the large shaft forgings. So set up, when getting the material of large-scale axle class forging, accomplish the non-contact detection to large-scale axle class forging, according to the quality of large-scale axle class forging, carry different large-scale axle class forging to different positions.
In the description of the above embodiments, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a large-scale axle class forging material taking robot which characterized in that includes:
The clamping device comprises a guide rail, at least two clamp adjusting hydraulic cylinders and at least two groups of clamp assemblies, each clamp adjusting hydraulic cylinder is in power connection with the corresponding clamp assembly, the clamp assemblies are in sliding connection with the guide rail, and the clamp assemblies are used for clamping large shaft forgings;
the clamp hydraulic system is in power connection with the clamp adjusting hydraulic cylinder and is used for driving the clamp assembly to slide on the guide rail;
the traveling device is connected with the clamping device and used for driving the clamping device to move and adjusting the horizontal position of the clamping device relative to the large shaft forging;
each of the clamp assemblies includes:
the clamp telescopic hydraulic cylinder is in power connection with the clamp hydraulic system;
the connecting rod mechanism is in power connection with the clamp telescopic hydraulic cylinder;
at least two clamps, each of which is rotatably connected with the link mechanism;
the clamp telescopic hydraulic cylinder and the connecting rod mechanism are connected with the guide sleeve, the guide sleeve is in sliding connection with the guide rail, and the guide sleeve is in power connection with the clamp adjusting hydraulic cylinder;
The large-scale axle type forging material taking robot still includes main pressure oil pipe, main oil return pipe, control oil pipe and drain pipe, clamp hydraulic system includes:
the hydraulic system for adjusting the clamp comprises a second proportional pressure reducing valve, a fourth hydraulic control one-way valve, a fifth hydraulic control one-way valve, a sixth hydraulic control one-way valve, a second electromagnetic ball valve, a second pressure reducing valve, a second proportional servo valve and a second one-way valve, wherein an oil port B of the second proportional pressure reducing valve is communicated with a main pressure oil pipe, an oil port A of the second proportional pressure reducing valve is communicated with an oil port B of the fourth hydraulic control one-way valve, an oil port A of the fourth hydraulic control one-way valve is communicated with an oil port A of the second pressure reducing valve, an oil port B of the second proportional pressure reducing valve is communicated with an oil port P of the second proportional servo valve, an oil port A of the second proportional servo valve is communicated with an oil port A of the fifth hydraulic control one-way valve, an oil port B of the fifth hydraulic control one-way valve is communicated with an oil port B of the clamp adjustment hydraulic cylinder, an oil port A of the sixth hydraulic control one-way valve is communicated with an oil port B of the sixth hydraulic control one-way valve, an oil port A of the sixth hydraulic control one-way valve is communicated with an oil port B of the fourth hydraulic control one-way valve, an oil port B of the fourth hydraulic control one-way valve is communicated with an oil port B of the second electromagnetic valve, an oil port T of the second hydraulic control one-way valve is communicated with an oil port B of the electromagnetic valve is communicated with an electromagnetic valve, an electromagnetic valve is communicated with an oil port B of the electromagnetic valve is communicated with an electromagnetic valve is respectively, the clamp adjusting hydraulic system is used for controlling the clamp assembly to slide on the guide rail;
The hydraulic system comprises at least two clamp telescopic hydraulic systems, wherein each clamp telescopic hydraulic system comprises a three-position four-way electromagnetic directional valve, a hydraulic lock, a third pressure reducing valve, a throttle speed regulating valve and a first overflow valve, an oil port P of each three-position four-way electromagnetic directional valve is communicated with a main pressure oil pipe, an oil port T of each three-position four-way electromagnetic directional valve is communicated with a main oil return pipe, an oil port X and an oil port P of each first overflow valve are communicated with an oil port A of each clamp telescopic hydraulic cylinder, an oil port T of each first overflow valve is communicated with the main oil return pipe, and the three-position four-way electromagnetic directional valves, the hydraulic locks, the third pressure reducing valves and the throttle speed regulating valves are combined together in a mode of overlapping installation and are communicated with the clamp telescopic hydraulic cylinders, and the clamp telescopic hydraulic systems are used for controlling relative approaching or separating of two clamps.
2. The large shaft forging stock removal robot of claim 1, wherein the running gear comprises:
at least 4 travel hydraulic motors;
and the driving wheels are respectively connected with the corresponding walking hydraulic motors in a power mode, and the walking hydraulic motors are used for controlling the movement of the driving wheels.
3. The large shaft forging stock removal robot of claim 2, further comprising:
a main pressure oil pipe;
a main oil return pipe;
controlling an oil pipe;
an oil drain pipe;
at least 4 groups of walking hydraulic systems, each group of walking hydraulic systems comprises a first proportional pressure reducing valve, a first hydraulic control one-way valve, a second hydraulic control one-way valve, a third hydraulic control one-way valve, a first electromagnetic ball valve, a first pressure reducing valve, a first proportional servo valve and a first one-way valve, wherein an oil port B of the first proportional pressure reducing valve is communicated with a main pressure oil pipe, an oil port A of the first proportional pressure reducing valve is communicated with an oil port B of the first hydraulic control one-way valve, an oil port A of the first hydraulic control one-way valve is communicated with an oil port A of the first pressure reducing valve, an oil port B of the first pressure reducing valve is communicated with an oil port P of the first proportional servo valve, an oil port A of the first proportional servo valve is communicated with an oil port A of the second electromagnetic ball valve, an oil port B of the walking hydraulic motor is communicated with an oil port B of the third hydraulic control one-way valve, an oil port A of the third hydraulic control one-way valve is communicated with an oil port B of the first ball valve, an oil port X of the first hydraulic control one-way valve is communicated with an oil port X of the first electromagnetic ball valve, an oil port X of the first hydraulic control one-way valve is communicated with an oil port X of the electromagnetic ball valve, an electromagnetic valve is communicated with an oil port X of the electromagnetic valve, an electromagnetic valve is communicated with an electromagnetic valve, each group of the walking hydraulic systems is used for controlling the movement speed of the corresponding driving wheel.
4. The large shaft forging stock removal robot of claim 1, further comprising:
the lifting device comprises a movable arm, a large arm, a small arm, a front arm, a rotating base, a first lifting hydraulic cylinder, a second lifting hydraulic cylinder, a third lifting hydraulic cylinder and a fourth lifting hydraulic cylinder, wherein the first end of the movable arm is rotatably connected with the rotating base, the second end of the movable arm is rotatably connected with the first end of the large arm, the second end of the large arm is rotatably connected with the first end of the small arm, the first end of the front arm and the clamping device are respectively rotatably connected with the second end of the small arm, the second end of the front arm and the clamping device are connected, the first lifting hydraulic cylinder is fixedly connected with the rotating base, the output end of the first lifting hydraulic cylinder is in power connection with the second end of the movable arm, the output end of the second lifting hydraulic cylinder is in power connection with the large arm, the third lifting hydraulic cylinder is fixedly connected with the large arm, the output end of the third lifting hydraulic cylinder is in power connection with the small arm, and the fourth lifting hydraulic cylinder is fixedly connected with the front arm;
The first lifting hydraulic system comprises a first servo motor, a first variable pump, a second variable pump, a third one-way valve, a fourth one-way valve, a first two-way reversing valve, a second two-way reversing valve and a first accumulator group, wherein the first variable pump and the second variable pump are coaxially arranged with the first servo motor, an opening A of the first variable pump is communicated with an opening A of the second two-way reversing valve, an opening B of the second two-way reversing valve is communicated with an opening A of the first lifting hydraulic cylinder, an opening B of the first lifting hydraulic cylinder is communicated with an opening B of the first two-way reversing valve, an opening B of the first variable pump and an opening B of the second variable pump are both communicated with an opening A of the first two-way reversing valve, an opening A of the second variable pump is communicated with an opening A of the first accumulator group, an opening B of the second variable pump is communicated with an opening A of the second two-way reversing valve, an opening B of the second variable pump is communicated with an opening B of the second two-way reversing valve is communicated with an opening A of the first two-way reversing valve, and an opening B of the fourth two-way reversing valve is communicated with an opening B of the first two-way reversing valve;
The second lifting hydraulic system comprises a second servo motor, a third variable pump, a fourth variable pump, a fifth one-way valve, a sixth one-way valve, a third two-way reversing valve, a fourth two-way reversing valve and a second accumulator group, wherein the third variable pump and the fourth variable pump are coaxially arranged with the second servo motor, an opening A of the third variable pump is communicated with an opening A of the fourth two-way reversing valve, an opening B of the fourth two-way reversing valve is communicated with an opening A of the second lifting hydraulic cylinder, an opening B of the second lifting hydraulic cylinder is communicated with an opening B of the third two-way reversing valve, an opening B of the third variable pump and an opening B of the fourth variable pump are both communicated with an opening A of the third two-way reversing valve, an opening A of the fourth variable pump is communicated with an opening A of the second accumulator group, an opening B of the fourth variable pump is communicated with an opening B of the fifth two-way reversing valve, an opening B of the fourth variable pump is communicated with an opening B of the fourth two-way reversing valve;
The third lifting hydraulic system comprises a third servo motor, a fifth variable pump, a sixth variable pump, a seventh one-way valve, an eighth one-way valve, a fifth two-way reversing valve, a sixth two-way reversing valve and a third accumulator group, wherein the fifth variable pump and the sixth variable pump are coaxially arranged with the third servo motor, an opening A of the fifth variable pump is communicated with an opening A of the sixth two-way reversing valve, an opening B of the sixth two-way reversing valve is communicated with an opening A of the third lifting hydraulic cylinder, an opening B of the third lifting hydraulic cylinder is communicated with an opening B of the fifth two-way reversing valve, an opening B of the fifth variable pump and an opening B of the sixth variable pump are both communicated with an opening A of the fifth two-way reversing valve, an opening A of the sixth variable pump is communicated with an opening A of the third accumulator group, an opening B of the sixth variable pump is communicated with an opening A of the seventh two-way reversing valve, an opening B of the eighth variable pump is communicated with an opening B of the eighth two-way reversing valve, and an opening B of the eighth two-way reversing valve is communicated with an opening B of the eighth one-way valve;
The fourth lifting hydraulic system comprises a fourth servo motor, a seventh variable pump, an eighth variable pump, a ninth one-way valve, a tenth one-way valve, a seventh two-way reversing valve, an eighth two-way reversing valve and a fourth accumulator group, wherein the seventh variable pump and the eighth variable pump are coaxially arranged with the fourth servo motor, an opening A of the seventh variable pump is communicated with an opening A of the eighth two-way reversing valve, an opening B of the eighth two-way reversing valve is communicated with an opening A of the fourth lifting hydraulic cylinder, an opening B of the fourth lifting hydraulic cylinder is communicated with an opening B of the seventh two-way reversing valve, an opening B of the seventh variable pump and an opening B of the eighth variable pump are communicated with an opening A of the seventh two-way reversing valve, an opening A of the eighth variable pump is communicated with an opening A of the fourth accumulator group, an opening B of the eighth variable pump is communicated with an opening A of the ninth two-way reversing valve, an opening B of the eighth variable pump is communicated with an opening B of the ninth two-way reversing valve, and an opening B of the ninth two-way reversing valve is communicated with an opening A of the eighth two-way reversing valve.
5. The large shaft forging stock removal robot of claim 1, further comprising:
the mechanical arm rotating device comprises a mechanical arm rotating hydraulic motor, a gear transmission assembly and a turntable, wherein the mechanical arm rotating hydraulic motor is in power connection with the gear transmission assembly, and the gear transmission assembly is in transmission connection with the turntable;
and the output end of the clamp rotary hydraulic motor is in power connection with the clamp device and is used for controlling the clamp device to rotate.
6. The large shaft forging stock removal robot of claim 5, further comprising:
the rotary hydraulic system comprises a mechanical arm rotary hydraulic system and a clamp rotary hydraulic system, wherein the mechanical arm rotary hydraulic system comprises a fifth servo motor, a ninth variable pump, a first three-position three-way hydraulic reversing valve and a second overflow valve, the fifth servo motor is coaxial with the ninth variable pump, an oil port A of the ninth variable pump is communicated with an oil port A of the mechanical arm rotary hydraulic motor, an oil port B of the mechanical arm rotary hydraulic motor is communicated with an oil port B of the ninth variable pump, an oil port A of the first three-position three-way hydraulic reversing valve is communicated with an oil port A of the mechanical arm rotary hydraulic motor, an oil port B of the first three-position three-way hydraulic reversing valve is communicated with an oil port B of the mechanical arm rotary hydraulic motor, an oil port T of the first three-way hydraulic reversing valve is communicated with an oil P of the second overflow valve, and an oil port T of the second overflow valve is used for being communicated with an oil tank; the clamp rotary hydraulic system comprises a sixth servo motor, a tenth variable pump, a second three-position three-way hydraulic reversing valve and a third overflow valve, wherein the sixth servo motor is coaxial with the tenth variable pump, an oil port A of the tenth variable pump is communicated with an oil port A of the clamp rotary hydraulic motor, an oil port B of the clamp rotary hydraulic motor is communicated with an oil port B of the tenth variable pump, an oil port A of the second three-position three-way hydraulic reversing valve is communicated with an oil port A of the clamp rotary hydraulic motor, an oil port B of the second three-position three-way hydraulic reversing valve is communicated with an oil port B of the clamp rotary hydraulic motor, an oil port T of the second three-position three-way hydraulic reversing valve is communicated with oil P of the third overflow valve, and an oil port T of the third overflow valve is used for being communicated with an oil tank.
7. The large shaft forging stock removal robot of claim 1, further comprising:
the control system comprises an external displacement sensor, a first pressure sensor and a controller, wherein the external displacement sensor, the first pressure sensor and the controller are connected through an electric signal, the external displacement sensor is used for detecting the position of the clamp device and transmitting the position of the clamp device to the controller, the first pressure sensor is used for detecting the working pressure of the clamp device and transmitting the working pressure of the clamp device to the controller, and the controller is used for timely adjusting the position and the working pressure of the clamp hydraulic system.
8. The large shaft forging stock removal robot of claim 1, further comprising:
the nondestructive testing device comprises at least two ultrasonic flaw detectors which are symmetrically arranged on two sides of the guide rail and are used for detecting cracks or inclusions in the large shaft forging.
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| CN202311235297.5A CN116967386B (en) | 2023-09-25 | 2023-09-25 | Material taking robot for large shaft forgings |
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| CN202311235297.5A CN116967386B (en) | 2023-09-25 | 2023-09-25 | Material taking robot for large shaft forgings |
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| CN116967386A CN116967386A (en) | 2023-10-31 |
| CN116967386B true CN116967386B (en) | 2023-12-08 |
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