CN209465639U

CN209465639U - Apply the forging catching robot in automatic production line

Info

Publication number: CN209465639U
Application number: CN201822273691.9U
Authority: CN
Inventors: 耿晨; 耿长民
Original assignee: Shandong Lyuping Industrial Fire-Fighting Equipment Co Ltd
Current assignee: Shandong Lyuping Industrial Fire-Fighting Equipment Co Ltd
Priority date: 2018-12-30
Filing date: 2018-12-30
Publication date: 2019-10-08
Anticipated expiration: 2028-12-30

Abstract

The utility model relates to apply the forging catching robot in automatic production line, including pedestal, linking arm and handgrip.Linking arm is located on pedestal, can be rotated relative to pedestal.Handgrip includes upper and lower plywoods, and respectively includes connecting pin and U-shaped clamping plate.Lower clamp plate connecting pin side is connect with linking arm, and U-shaped clamping plate is located at the other side, and the side of nearly linking arm is equipped with driving portion and hinge support on upper surface.Connecting pin one end of upper clamp plate is matched with driving portion, and middle part is pivotally matched with hinge support, the clamping plate face of two U-shaped clamping plates.Upper clamp plate can stir above and below around the pivot, and switch ground and make the U-shaped clamping plate of upper clamp plate close to or far from the U-shaped clamping plate of lower clamp plate.It helps to implement turning operation to the workpiece for needing tow sides to be forged by automation means, can be realized the labor intensity for mitigating forging worker, reduces operational danger, and improve the purpose of forging production efficiency.

Description

Forge piece grabbing manipulator applied to automatic production line

Technical Field

The utility model relates to a forge production field specifically is a forging that can be used for automatic forging and pressing production line in the forging production snatchs manipulator.

Background

Forging is a processing method which utilizes forging machinery to apply pressure on a metal blank to cause the metal blank to generate plastic deformation so as to obtain a forged piece with certain mechanical property, certain shape and certain size. The forging processing can eliminate the defects of as-cast porosity and the like generated in the smelting process of metal, optimize the microstructure, and simultaneously, the mechanical property of the forging is generally superior to that of a casting made of the same material due to the preservation of a complete metal streamline.

In the forging process, the front and back sides of some workpieces need to be forged in sequence. At present, in order to forge the front and back surfaces of a workpiece, a worker clamps a heated blank material by using a clamp and puts the clamped blank material into a lower die for forging, and after one surface is machined, the worker clamps the workpiece by using the clamp and turns over the workpiece by 180 degrees and then forges the other surface. In the whole overturning operation, the physical consumption of workers is very high, the operation efficiency is low, and the personal safety of the workers is easily threatened. Therefore, the grabbing manipulator which can be used in the forging process and is suitable for workpiece overturning of an automatic forging line needs to be designed, the design and application of the grabbing manipulator not only are beneficial to reducing the labor intensity of workers, but also can remarkably improve the production efficiency, and the grabbing manipulator is beneficial to avoiding personal damage to the workers possibly caused in the forging overturning operation.

SUMMERY OF THE UTILITY MODEL

For carry out the upset operation with the help of automatic means to the work piece that needs tow sides to forge in forging production to alleviate forger's intensity of labour, it is dangerous to reduce the operation, and improve production efficiency, the utility model provides an use forging at automation line and snatch manipulator, this manipulator can firmly snatch the especially long form forging of forging, and can accomplish the upset action rapidly.

The utility model provides a technical scheme that its technical problem adopted is: a forge piece grabbing mechanical arm applied to an automatic production line comprises a base body, a connecting arm and a gripper;

the connecting arm is arranged on the base body and can rotate in a horizontal space relative to the base body.

The tongs include upper plate and lower plate, and this upper and lower plate includes link and U-shaped splint respectively.

One side of the connecting end of the lower clamping plate is fixedly connected with the connecting arm, and the U-shaped clamping plate is arranged on the other side of the connecting end.

And a driving part is arranged on one side close to the connecting arm on the upper end surface of the connecting end of the lower clamping plate, and a hinged support is arranged on the opposite side.

One side of the connecting end of the upper clamping plate is matched with the driving part, the other side of the connecting end of the upper clamping plate is pivotally matched with the hinged support, and meanwhile, the U-shaped clamping plate of the upper clamping plate is correspondingly arranged right above the U-shaped clamping plate of the lower clamping plate. The upper clamping plate can be turned up and down around the pivot under the action of the driving part, and the lower plate surface of the U-shaped clamping plate of the upper clamping plate can be switched to be close to or far away from the upper plate surface of the U-shaped clamping plate of the lower clamping plate.

In a specific embodiment, the connecting end on the lower clamping plate is matched with the corresponding U-shaped clamping plate through a vertically arranged linear track, and a fastening adjusting part capable of selectively limiting the upper and lower fixing positions of the corresponding matched U-shaped clamping plate relative to the connecting end is arranged on the connecting end of the lower clamping plate.

In a specific embodiment, the lower end surface of the upper U-shaped splint of the upper splint is an inclined surface inclined from the outer side to the inner side, and the included angle between the inclined surface and the horizontal plane is not more than 30 degrees.

In a specific embodiment, a plurality of threaded through holes are distributed on two arm plates of a U-shaped clamping plate in the upper clamping plate at intervals along the length direction of the arm plates, and pressing columns are correspondingly arranged in the threaded through holes. And an end block is fixedly arranged at one end of the compression column, and the lower end face of the end block can extend downwards relative to the lower plate face of the arm plate. The end block is made of high-temperature resistant elastic material.

In a specific embodiment, strip-shaped sinking grooves are respectively formed in the lower plate surface of each arm plate on the two arm plates of the U-shaped clamping plate in the lower clamping plate. The strip-shaped sinking groove is internally provided with a supporting plate which can slide along the groove depth direction of the strip-shaped sinking groove, and the notch of the strip-shaped sinking groove is provided with a sealing plate. The upper part of the sealing plate is provided with a plurality of lower adjusting screws, the screw ends of the lower adjusting screws extend into the strip-shaped sinking grooves and are correspondingly sleeved with springs, and the other ends of the springs are pressed on the lower plate surface of the supporting plate.

On the two arm boards of U form splint in the lower plate, be equipped with a plurality of adjusting screw on that alternate distribution is equipped with respectively on the last face of each arm board, the screw end of going up adjusting screw can be used in on the last face of layer board, and the both sides distribution that just goes up adjusting screw is equipped with the strip through-hole.

The upper plate surface of the supporting plate is provided with strip blocks, and the strip blocks can penetrate through the strip through holes to the outside of the upper end surface of the arm plate of the U-shaped clamping plate in the lower clamping plate. Preferably, the upper portion of the bar is provided as a toothed end. Namely, the part of the strip block which can be exposed out of the upper end surface of the arm plate of the U-shaped clamping plate in the lower clamping plate is in a tooth-shaped structure. The bar block is made of high-temperature-resistant elastic materials, and if the upper portion of the bar block is of a non-tooth structure, the bar block is made of materials with high friction coefficient, so that enough contact friction force can be formed when the bar block is in contact with a forge piece.

In a specific embodiment, one end of the connecting arm is a shaft portion, the other end of the connecting arm is provided with a U-shaped inserting plate, a horizontally extending connecting plate is arranged above the end of the inserting plate, and an end plate extending vertically is arranged below the connecting plate. And two side faces of the connecting end of the lower clamping plate are provided with slots which can be inserted with the inserting plates. The connecting plate passes through bolted connection in the link top surface of lower plate, the end plate passes through stud and connects the link terminal surface of lower plate.

In a specific embodiment, the driving portion is a cylinder rod. One side of the upper connecting end of the upper clamping plate is provided with a push arm, the push arm is arranged in a downward inclined mode from outside to inside, and the outer end of the push arm is connected with the pressure cylinder rod.

The utility model has the advantages that: the technical scheme of this patent can use in automatic forging line, helps carrying out the upset operation to the work piece that needs the tow sides to forge through automatic means, can realize alleviateing forger's intensity of labour, reduces the operation danger to improve the purpose of forging production efficiency.

Drawings

Fig. 1 is a schematic view of the overall structure of an embodiment of the present patent.

Fig. 2 is a schematic view of the overall structure of the hand grip portion in the embodiment of the present patent.

Fig. 3 is a schematic view of the upper clamping plate of the lower gripper of the embodiment of the patent.

Fig. 4 is a schematic view of the structure of the lower clamping plate of the lower gripper of the embodiment of the patent.

Fig. 5 is a schematic view of a main view direction structure of the lower gripper and the connecting arm according to the embodiment of the present invention.

Fig. 6 is a top view of the gripper and connecting arm according to the embodiment of the present invention.

Fig. 7 is a schematic view of an optimized structure of an upper clamping plate of the lower gripper of the embodiment of the patent.

Fig. 8 is a schematic structural view of an optimized upper clamping plate of the lower gripper of the embodiment of the patent.

Fig. 9 is a schematic view of an optimized structure of a lower clamping plate of the lower gripper of the embodiment of the patent.

Fig. 10 is a schematic view of a partially contrasted cross-sectional structure of the upper and lower splints under the scheme of fig. 8 and 9.

In the figure: 3 a base body, 31 a rotary driving motor, 4 connecting arms, 41 plug boards, 42 shaft parts, 43 connecting boards, 44 double-head screws, 5 grippers, 51 lower clamping boards, 51a connecting ends A, 51B U-shaped clamping boards A, 511 tight-fitting bolts, 512 slots, 52 upper clamping boards, 52a connecting ends B, 52B U-shaped clamping boards B, 521 slots, 522 pivots, 523 push arms, 53 compression columns, 531 end blocks, 532 rib plates, 54 supporting boards, 541 blocks, 541a toothed ends, 55 upper adjusting screws, 56 lower adjusting screws, 57 springs, 58 sealing boards, 6 driving parts, 7 hinged supports, a top surfaces, B side surfaces and c bottom surfaces

Detailed Description

The drawings in the specification show the structure, ratio, size, etc. only for the purpose of matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and not for the purpose of limiting the present invention, so the present invention does not have the essential meaning in the art, and any structure modification, ratio relationship change or size adjustment should still fall within the scope covered by the technical content disclosed in the present invention without affecting the function and achievable purpose of the present invention. Meanwhile, the terms "upper", "lower", "front", "rear", "middle", and the like used in the present specification are for the sake of clarity only, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof are also considered to be the scope of the present invention without substantial changes in the technical content.

The forge piece grabbing mechanical arm applied to the automatic production line as shown in fig. 1 comprises a base body 3, a connecting arm 4, a gripper 5, a driving part 6 and a hinged support 7, wherein the driving part 6 and the hinged support are installed in the gripper 5. The driving portion 6 generally uses a hydraulic lever or a pneumatic cylinder rod, and in a specific embodiment, the driving portion 6 may also use other mechanisms capable of implementing linear transmission, such as a screw slider mechanism, a rack and pinion transmission mechanism, and the like.

The connecting arm 4 is mounted on the base 3 and can rotate in a horizontal space relative to the base 3, and the angle of each rotation is an integral multiple of 180 degrees. The power device for driving the connecting arm 4 to rotate relative to the base 3 is a rotary driving motor 31, which is installed on the base 3, and the output shaft of the rotary driving motor 31 is engaged with the left end of the connecting arm 4 (a gearbox can be arranged on the base 3 as an intermediate speed-changing mechanism for the rotary driving motor 31 and the connecting arm 4. the rotary driving motor 31 is used to control the turning condition of the lower clamp plate 51 (i.e. the hand grip 5), and the lower clamp plate 51 can be rotated forward 180 degrees at a time by setting, so that the upper and lower clamp plates face each other, and then rotated in reverse 180 degrees to reset, or can be set so that the lower clamp plate 51 is rotated only forward or in reverse, and each time is 180 degrees.

As shown in fig. 1 to 4, the gripper 5 includes a lower plate 51 and an upper plate 52, the lower plate 51 includes a connecting end a 51a and a U-shaped plate a 51B, and the upper plate 52 includes a connecting end B52 a and a U-shaped plate B52B. Wherein,

the left side of the connecting end A51 a of the lower clamp plate 51 is fixedly connected with the connecting arm 4, and the U-shaped clamp plate A51 b is arranged on the right side of the connecting end A51 a. The driving part 6 is arranged on the left side of the upper end face of the connecting end A51 a, and the hinged support 7 is arranged on the right side of the upper end face.

The connecting end B52 a of the upper clamp plate 52 is matched with the driving part 6 at the left side and pivotally matched with the hinged support 7 at the right side, and the U-shaped clamp plate B52B of the upper clamp plate 52 is correspondingly arranged right above the U-shaped clamp plate a 51B of the lower clamp plate. The upper plate 52 can be flipped up and down about the pivot 522 by the driving unit 6, and the (arm plate) lower plate surface of the U-shaped plate B52B of the upper plate 52 can be switched to be closer to or farther from the (arm plate) upper plate surface of the U-shaped plate a 51B of the lower plate 51. As shown, a notch 521 is formed at the connection end B52 a, the upper end of the hinge support 7 is inserted into the notch 521, a shaft hole matched with the pivot 522 is formed at the hinge support 7, and both ends of the pivot 522 extend to the wall bodies at both sides of the notch 521, so that the upper clamp plate 52 can rotate around the pivot 522. Preferably, a sleeve may be disposed around the pivot, and the sleeve is made of an elastic material to facilitate a certain radial displacement of the upper plate 52 during rotation, or in other embodiments, to make the shaft hole matching the pivot 522 a clearance fit.

As shown in fig. 1 to 6, the connecting end a 51a of the lower clamp plate 51 is matched with the U-shaped clamp plate a 51b by a vertically arranged linear track (dovetail groove-rail structure), and the connecting end a 51a is provided with a fastening and adjusting part (i.e., a fastening bolt 511 on both sides) capable of selectively limiting the upper and lower fixing positions of the U-shaped clamp plate a 51 b. This arrangement enables adjustment of the distance between the opposing plate surfaces of the U-shaped clamp plate a 51B and the U-shaped clamp plate B52B (when the opposing plate surfaces of both clamp plates are in the horizontal plane).

In order to improve the clamping effect of the lifting finger 5 on the forging, as shown in fig. 7, the lower end surface (i.e., the bottom surface c) of the U-shaped clamp plate B52B on the upper clamp plate 52 is an inclined surface inclined from the outer side to the inner side (from right to left in the figure). The included angle between the inclined plane and the horizontal plane is not more than 30 degrees, and preferably ranges from 1 degree to 15 degrees, such as 2 degrees, 3 degrees, 5 degrees and the like.

In order to also achieve the clamping effect of the lifting finger 5 on the forging, the solutions shown in fig. 8 to 10 may also be adopted:

on the two arm plates of the U-shaped clamp plate B52B in the upper clamp plate 52, a plurality of threaded through holes are distributed at intervals along the length direction of the arm plates, and the threaded through holes are correspondingly provided with compression columns 53. An end block 531 is fixedly arranged at one end of the compression column 53, and the lower end surface of the end block 531 can extend downwards relative to the lower plate surface of the arm plate. The end block 531 is made of a high temperature resistant elastic material (or a composite material). The "high temperature" is the high temperature corresponding to the forging temperature of 3. the lowest boundary value of the high temperature is determined according to the forging environment, and is generally 800 degrees, even 1000 degrees or more than 1200 degrees. In order to ensure that the two arm plates of the U-shaped clamping plate B52B have enough rigidity, rib plates 532 distributed along the length direction of the arm plates are arranged on the U-shaped clamping plate B52B.

On the two arm plates of the U-shaped clamp plate A51 b of the lower clamp plate 51, strip-shaped sinking grooves are respectively arranged on the lower plate surface of each arm plate. The strip-shaped sinking groove is internally provided with a supporting plate 54 which can slide along the groove depth direction of the strip-shaped sinking groove, and the notch of the strip-shaped sinking groove is provided with a sealing plate 58. A plurality of lower adjusting screws 56 are respectively arranged on the sealing plate 58, the screw ends of the lower adjusting screws 56 extend into the strip-shaped sinking grooves and are correspondingly sleeved with springs 57, and the other ends of the springs 57 are pressed on the lower plate surface of the supporting plate 54. Meanwhile, a plurality of upper adjusting screws 55 distributed at intervals are respectively arranged on the upper plate surfaces of the two arm plates of the U-shaped clamping plate A51 b in the lower clamping plate 51, the screw ends of the upper adjusting screws 55 can act on the upper plate surface of the supporting plate 54, and strip-shaped through holes are distributed on two sides of the upper adjusting screws 55. The upper plate surface of the supporting plate 54 is distributed with strip blocks 541, and the strip blocks 541 can penetrate through the strip through holes to the outside of the upper end surface of the arm plate of the U-shaped clamping plate a 51 b. Preferably, the upper portion of the bar 541 is provided with a toothed end 541 a. That is, the portion of the bar 54 exposed from the upper end surface of the arm plate of the clevis a 51b in the lower plate 51 has a toothed structure. The bar 54 is preferably made of a high-temperature-resistant elastic material, and if the upper portion of the bar is of a non-toothed structure, the bar is made of a material with a relatively high friction coefficient so as to ensure that a sufficiently high contact friction force can be formed when the bar is in contact with the forging.

The end blocks 531 at the lower ends of the compression posts 53 are capable of acting on the forging surface inwardly (from right to left as shown) from the compression posts 53 disposed at the free ends of the blades of the clevis B52B, and the lower end surfaces of the compression posts 53 (i.e., the end blocks 531 thereon) are of a non-uniform length extending downwardly relative to the lower blade surface, generally in decreasing order. Even if the stamping waste edge of the forge piece is not flat, the hand grip 5 can clamp the forge piece stably (the hand grip extends into the lower part of the forge piece after the ejector rod jacks the forge piece beaten by forging and pressing, and the forge piece is clamped by descending the forge piece under the action of the waste edge on the periphery of the forge piece main body, so that the scheme of the patent is particularly suitable for clamping and overturning the strip forge piece). The elastic deformation of the end block 531 can enhance the acting pressure between the clamping plate and the forged piece waste edge on one hand, the static friction force between the contact surfaces can be increased on the other hand, the forged piece slides down from the gripper 5 in surface overturning, and the rapid overturning operation is facilitated.

The upper adjusting screw 55 can adjust the height of the upper part of the bar 541 extending out of the U-shaped frame plate a 51 b. On U-shaped frame plate A51 b, correspond last adjusting screw 55 sets up the position and is equipped with the ladder counter bore, and the hypomere of ladder counter bore is the screw hole, go up adjusting screw 55's nut part and arrange in the upper segment downthehole of ladder counter bore and there is axial vertical interval between the up end of nut and the last port of ladder counter bore. The lower adjusting screw 56 can adjust the initial compression of the spring 57, that is, the elastic pressure applied by the spring 57 to the supporting plate 54, thereby controlling the pressure of the upper end surface of the bar 541 capable of acting on the forged piece waste edge. In the drawings, one side (outer side) of each arm plate is provided with one bar, and the other side (inner side) of each arm plate is provided with two bars.

The scheme is that the pressing column 53 and the bar 541 are used simultaneously. In one embodiment, the compression leg 53 and the bar 541 may be used alternatively. When the forging piece is required to be rapidly turned (180 degrees), the scheme shown in the figure is preferably adopted.

As shown in fig. 1, 6 and 6, one end of the connecting arm 4 is a shaft portion 42, the other end is provided with a U-shaped insert plate 41, a horizontally extending connecting plate 43 is provided above the end provided with the insert plate 41, and a vertically extending end plate is provided below the end. Two side surfaces of the connecting end A51 a of the lower splint 51 are provided with slots 512 which can be inserted into the inserting plates 41. The connecting plate 43 is bolted to the top surface a of the connecting end a of the lower plate 51, and the end plate is connected to the side surface b of the connecting end a of the lower plate 51 by a stud 44. Due to the arrangement, the suspension rigidity of the lower clamping plate 51 can be guaranteed, and the lower clamping plate 51 can still be parallel to a horizontal plane after long-term use, so that the firmness and the reliability of clamping the forged piece can be maintained for a long time.

As shown in fig. 7, the driving unit 6 is a cylinder rod (hydraulic cylinder rod or pneumatic cylinder rod). One side of the upper connecting end B52 a of the upper clamp plate 52 is a push arm 523, the push arm 523 is inclined downwards from outside to inside, and the outer end of the push arm is connected with the cylinder rod. The arrangement can improve the acting force effect between the U-shaped clamping plate B52B and the forged piece waste edge, and enhance the grabbing stability and reliability of the grabbing hand 5 to the forged piece.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. The present invention can be modified in many ways without departing from the spirit and scope of the present invention, and those skilled in the art can modify or change the embodiments described above without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. Use the forging at automation line and snatch manipulator, its characterized in that: comprises a seat body, a connecting arm and a gripper;

the connecting arm is arranged on the seat body and can rotate in a horizontal space relative to the seat body;

the hand grip comprises an upper clamping plate and a lower clamping plate, and the upper clamping plate and the lower clamping plate respectively comprise a connecting end and a U-shaped clamping plate;

one side of the connecting end of the lower clamping plate is fixedly connected with the connecting arm, and the U-shaped clamping plate is arranged on the other side of the connecting end;

a driving part is arranged on one side close to the connecting arm on the upper end surface of the connecting end of the lower clamping plate, and a hinged support is arranged on the opposite side;

one side of the connecting end of the upper clamping plate is matched with the driving part, the other side of the connecting end of the upper clamping plate is pivotally matched with the hinged support, and meanwhile, the U-shaped clamping plate of the upper clamping plate is correspondingly arranged right above the U-shaped clamping plate of the lower clamping plate; the upper clamping plate can be turned up and down around the pivot under the action of the driving part, and the lower plate surface of the U-shaped clamping plate of the upper clamping plate can be switched to be close to or far away from the upper plate surface of the U-shaped clamping plate of the lower clamping plate.

2. The mechanical hand is snatched to forging that uses at automation line of claim 1, characterized in that: the connecting end on the lower splint is matched with the linear track which is vertically arranged between the corresponding U-shaped splints, and the connecting end of the lower splint is provided with a fastening adjusting part which can selectively limit the upper and lower fixed positions of the corresponding matched U-shaped splints relative to the connecting end.

3. The mechanical hand is snatched in forging that uses at automation line of claim 1 or 2, characterized in that: the lower end face of the upper U-shaped clamping plate is an inclined plane which inclines from the outer side to the inner side.

4. The mechanical hand is snatched in forging that uses at automation line of claim 1 or 2, characterized in that:

a plurality of threaded through holes are distributed on the two arm plates of the U-shaped clamping plate in the upper clamping plate at intervals along the length direction of the arm plates, and pressing columns are correspondingly arranged in the threaded through holes;

an end block is fixedly arranged at one end of the compression column, and the lower end face of the end block can extend downwards relative to the lower plate face of the arm plate; the end block is made of high-temperature resistant elastic material.

5. The mechanical hand is snatched to forging that uses at automation line of claim 4, characterized in that:

strip-shaped sinking grooves are respectively formed in the lower plate surfaces of the two arm plates of the U-shaped clamping plate in the lower clamping plate;

a supporting plate capable of sliding along the groove depth direction of the strip-shaped sinking groove is arranged in the strip-shaped sinking groove;

a sealing plate is arranged on the notch of the strip-shaped sinking groove;

a plurality of lower adjusting screws are respectively arranged on the sealing plate, the screw ends of the lower adjusting screws extend into the strip-shaped sinking grooves and are correspondingly sleeved with springs, and the other ends of the springs are pressed on the lower plate surface of the supporting plate;

a plurality of upper adjusting screws distributed at intervals are respectively arranged on the upper plate surface of each arm plate on the two arm plates of the U-shaped clamping plate in the lower clamping plate, the screw ends of the upper adjusting screws can act on the upper plate surface of the supporting plate, and strip-shaped through holes are distributed on the two sides of the upper adjusting screws;

the upper plate surface of the supporting plate is provided with strip blocks, and the strip blocks can penetrate through the strip through holes to the outside of the upper end surface of the arm plate of the U-shaped clamping plate in the lower clamping plate.

6. The mechanical hand is snatched to forging that uses at automation line of claim 5, characterized in that: the upper part of the bar is provided with a dentate end.

7. The mechanical hand is snatched in forging that uses at automation line of claim 1 or 2, characterized in that:

a sealing plate is arranged on the notch of the strip-shaped sinking groove;

8. The mechanical hand is snatched to forging that uses at automation line of claim 7, characterized in that: the upper part of the bar is provided with a dentate end.

9. The mechanical hand is snatched in forging that uses at automation line of claim 1 or 2, characterized in that:

one end of the connecting arm is a shaft part, the other end of the connecting arm is provided with a U-shaped plugboard, a horizontally extending connecting plate is arranged above the end of the plugboard, and a vertically extending end plate is arranged below the plugboard;

two side faces of the connecting end of the lower clamping plate are provided with slots which can be inserted with the inserting plates;

the connecting plate passes through bolted connection in the link top surface of lower plate, the end plate passes through stud and connects the link terminal surface of lower plate.

10. The mechanical hand is snatched in forging that uses at automation line of claim 1 or 2, characterized in that: the driving part is a pressure cylinder rod; one side of the upper connecting end of the upper clamping plate is provided with a push arm, the push arm is arranged in a downward inclined mode from outside to inside, and the outer end of the push arm is connected with the pressure cylinder rod.