CN211464723U

CN211464723U - Forging manipulator convenient to horizontal rotation forging and manipulator anchor clamps thereof

Info

Publication number: CN211464723U
Application number: CN201922263111.2U
Authority: CN
Inventors: 焦海燕
Original assignee: Shandong Dajin Forging Co ltd
Current assignee: Shandong Dajin Forging Co ltd
Priority date: 2019-12-14
Filing date: 2019-12-14
Publication date: 2020-09-11
Anticipated expiration: 2029-12-14

Abstract

The utility model discloses a forging manipulator and manipulator anchor clamps thereof convenient to horizontal rotation forging belongs to and forges and uses anchor clamps technical field, including manipulator anchor clamps, manipulator anchor clamps include U type frame, fixture, straining device and commentaries on classics material mechanism, and fixture includes first clamping jaw, second clamping jaw, first compensating rod and second compensating rod, and straining device includes first pneumatic cylinder and straining piece, changes material mechanism and includes two connecting blocks, two rotation heads and two drive assembly. The above technical scheme, the utility model, make cylindrical forging every single move rotate when upset cylindrical forging, manipulator anchor clamps can not block operating personnel's sight, and the operating personnel of being convenient for observes the roughness of cylindrical forging.

Description

Forging manipulator convenient to horizontal rotation forging and manipulator anchor clamps thereof

Technical Field

The utility model belongs to the technical field of forge and use anchor clamps, especially, relate to a forge manipulator and manipulator anchor clamps convenient to horizontal rotation forging.

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. When forging large-scale work piece, because the weight of blank is heavier, through the position of artifical adjustment cylindrical forging, or through the artifical cylindrical forging of transporting all can very labouring and danger, consequently mostly all can use the operation of forging manipulator blank when forging large-scale work piece.

At present, the publication date is 2009 08 month 26 days, and utility model patent with publication number CN201295927U provides a manipulator anchor clamps for forging flange, including two clamping jaws, two clamping jaws are equipped with exposed core and handle end respectively, and the exposed core intersects punishment with the handle end and is equipped with respectively with round pin complex hinge hole, is equipped with arcwall face clamp mouth in exposed core inboard. When the workpiece is clamped, the clamping port of the clamping end is in surface contact with the cylindrical forging, so that the contact area between the clamping port and the cylindrical forging is increased, the clamping force on the forging is also increased, the friction force between the clamping port and the forging is also increased, and the forging is not easy to slip off in the forging process.

When forging and pressing large-scale cylindrical forging, the forging hammer need constantly hammer the different positions of beating cylindrical forging and carry out the mound to cylindrical forging, consequently need constantly adjust the position of cylindrical forging, among the above-mentioned scheme, when the position of adjustment cylindrical forging, need press from both sides tight cylindrical forging earlier, later through the position of adjustment manipulator anchor clamps, unclamp cylindrical forging at last, operating procedure is comparatively loaded down with trivial details, and efficiency is lower.

SUMMERY OF THE UTILITY MODEL

A first object of the utility model is to provide a manipulator anchor clamps can rotate cylindrical forging on same horizontal plane.

The above object of the present invention can be achieved by the following technical solutions:

a manipulator clamp comprises a U-shaped frame, a clamping mechanism, a tensioning mechanism and a material transferring mechanism, wherein the clamping mechanism comprises a first clamping jaw, a second clamping jaw, a first compensation rod and a second compensation rod, the first clamping jaw and the second clamping jaw are both arc-shaped, one end of the first compensation rod is hinged with one end of the U-shaped frame, the first clamping jaw at the other end of the first compensation rod is hinged, one end of the second compensation rod is hinged with one end, away from the first compensation rod, of the U-shaped frame, and the other end of the second compensation rod is hinged with the second clamping jaw; the tensioning mechanism comprises a first hydraulic cylinder and a tensioning block, the cylinder body of the first hydraulic cylinder is fixedly connected with the U-shaped frame, the piston rod of the first hydraulic cylinder is fixedly connected with the tensioning block, one end of the first clamping jaw is hinged with the tensioning block, and one end of the second clamping jaw is hinged with the tensioning block; transfer material mechanism includes first chain, the second chain, first sprocket, the second sprocket, the third sprocket, fourth sprocket and drive assembly, first sprocket and second sprocket rotate respectively and connect the both ends at first clamping jaw, first chain cover is established on the outer peripheral face of first sprocket and second sprocket, and first chain rotates along the profile of first clamping jaw, the third sprocket rotates respectively with the fourth sprocket and connects the both ends at the second clamping jaw, the second chain cover is established on the outer peripheral face of third sprocket and fourth sprocket, and the profile of second clamping jaw is followed to the second chain and rotates, first chain and second chain all with the outer peripheral face butt of cylindrical forging, drive assembly is connected with first sprocket and third sprocket.

Through the technical scheme, withdraw the piston rod of first pneumatic cylinder, make first chain and the outer peripheral face of the tight cylindrical forging of second chain clamp, because first chain and the outer peripheral face butt of second chain and cylindrical forging, first sprocket and third sprocket antiport, first chain and second chain alright drive cylindrical forging and rotate on same horizontal plane, so set up, when the different positions of the cylindrical forging of needs hammering, only need to rotate cylindrical forging, make the cylindrical forging of forging hammer hammering be located first clamping jaw and the outside position of second clamping jaw can, operation steps is simple, and when the cylindrical forging of forging hammer hammering, first clamping jaw and second clamping jaw need not loosen cylindrical forging, operation steps are reduced, machining efficiency is promoted.

Furthermore, first clamping jaw and second clamping jaw set up for cavity, and first chain, first sprocket and second sprocket set up in first clamping jaw, and second chain, third sprocket and fourth sprocket set up in the second clamping jaw, have seted up first chain groove on the one side that first clamping jaw is close to cylindrical forging, and first chain part stretches out first chain groove, has seted up second chain groove on the one side that the second clamping jaw is close to cylindrical forging, and second chain part stretches out second chain groove.

Through above-mentioned technical scheme, first chain, first sprocket and second sprocket receive first clamping jaw protection, and second chain, third sprocket and fourth sprocket receive the second clamping jaw protection, and first chain is difficult for colliding with the deformation with the second chain, and the piece card that produces when first chain and second chain are also difficult to forge dies simultaneously, has prolonged the life-span of first chain and second chain.

Furthermore, a first sliding groove is formed in the first clamping jaw, the first sliding groove is arranged along the circumferential direction of the outline of the first clamping jaw, a pin shaft of the first chain is inserted into the first sliding groove, the pin shaft of the first chain is connected with the first sliding groove in a sliding mode along the length direction of the first sliding groove, a second sliding groove is formed in the second clamping jaw, the second sliding groove is arranged along the circumferential direction of the outline of the second clamping jaw, a pin shaft of the second chain wheel is inserted into the second sliding groove, and the pin shaft of the second chain wheel is connected with the second sliding groove in a sliding mode along the length direction of the second sliding groove.

Through above-mentioned technical scheme for first chain can only rotate along the length direction of first spout, consequently makes the profile of first clamping jaw rotate, and the second chain can only rotate along the profile of second clamping jaw like this.

Furthermore, the first clamping jaw comprises a first half jaw and a second half jaw, the first clamping jaw is formed by splicing the first half jaw and the second half jaw, the first half jaw and the second half jaw are fixedly connected through a bolt, the second clamping jaw comprises a third half jaw and a fourth half jaw, the second clamping jaw is formed by splicing the third half jaw and the fourth half jaw, and the third half jaw and the fourth half jaw are also fixedly connected through a bolt.

Through above-mentioned technical scheme, the split of first clamping jaw and second clamping jaw of being convenient for, and then be convenient for maintain or change first chain and second chain.

Furthermore, the driving assembly comprises a driving motor, a fifth chain wheel, a sixth chain wheel and a third chain, the driving motor is coaxially and fixedly connected with the fifth chain wheel, the fifth chain wheel is coaxially and fixedly connected with the first chain wheel, the sixth chain wheel is coaxially and fixedly connected with the third chain wheel, and the third chain is sleeved on the outer peripheral surfaces of the fifth chain wheel and the sixth chain wheel.

Through above-mentioned technical scheme, because the transmission of fifth sprocket and sixth sprocket, only need a driving motor can drive first chain and second chain rotation simultaneously.

Furthermore, the first chain and the second chain are both provided with a protection plate.

Through above-mentioned technical scheme, when first chain presss from both sides tight cylindrical forging with the second chain, avoid cylindrical forging direct and first chain and the contact of second chain, and then prevent that the cinder on the cylindrical forging from droing card first chain and the second chain of dying.

Furthermore, the surface of the protection plate, which is abutted to the cylindrical forging piece, is provided with anti-skid grains.

Through above-mentioned technical scheme, can increase the frictional force between guard plate and the cylindrical forging, the antiskid line is rotated with the second chain to the first chain of being convenient for.

Furthermore, the anti-slip threads are obliquely arranged along the running direction of the chain.

Through above-mentioned technical scheme, both the guard plate of being convenient for drives cylindrical forging and rotates, and simultaneously when transporting cylindrical forging, cylindrical forging is difficult for dropping.

Another object of the utility model is to provide a forge operation machine convenient to horizontal rotation freely forges flange can rotate cylindrical forging on same horizontal plane.

a forging manipulator convenient for horizontally rotating a forge piece comprises a frame, wherein the frame is rotatably connected with a workbench, the workbench is provided with a clamping device for clamping a cylindrical forge piece and an operation table for controlling the clamping device, the clamping device comprises a first telescopic arm, a second hydraulic cylinder, a third hydraulic cylinder and a manipulator clamp as described in the first purpose, one end of the first telescopic arm is rotatably connected on the workbench, the other end of the first telescopic arm is hinged with a piston rod of the second hydraulic cylinder, a cylinder body of the second hydraulic cylinder is hinged with the workbench, the first telescopic arm is sleeved outside the second telescopic arm, the second telescopic arm is connected with the first telescopic arm in a sliding manner along the length direction of the second telescopic arm, a cylinder body of the third hydraulic cylinder is fixedly connected with the first telescopic arm, a piston rod of the third hydraulic cylinder is fixedly connected with the second telescopic arm, a U-shaped frame is fixedly connected at one end of the second telescopic arm far away from the workbench, and the axle center of the first hydraulic cylinder is parallel to the axle center of the third hydraulic cylinder.

Through the technical scheme, the forging manipulator can get the material in material loading position department, and through swivel work head, adjust the angle of the first flexible arm, adjust the height that stretches out of the flexible arm of second, place cylindrical forging on the station of adding, when an end face of processing cylindrical forging, make the cylindrical forging of forging hammer hammering be located the outside position of first clamping jaw and second clamping jaw, cylindrical forging once hammered at every turn, first sprocket just drives cylindrical forging rotation certain angle with the second sprocket, in whole forging process, cylindrical forging need not loosen with the second sprocket to first sprocket, the operation steps have been reduced, and the machining efficiency is improved.

To sum up, with current technical contrast, the beneficial effects of the utility model are as follows:

1. through the setting of commentaries on classics material mechanism for when the position that cylindrical forging is different is beaten to needs hammering, only need rotate cylindrical forging through first chain and second chain, make the cylindrical forging of forging hammer hammering be located first clamping jaw and the outside position of second clamping jaw can, operating procedure is simple, and when the cylindrical forging of forging hammer hammering, cylindrical forging need not loosen with the second clamping jaw in addition, has reduced operating procedure, has promoted machining efficiency.

2. Be cavity through setting up first clamping jaw and second clamping jaw, first clamping jaw and second clamping jaw are the concatenation and make, and first chain, second chain set up respectively in first clamping jaw and second clamping jaw for first chain and second chain are protected by the clamping jaw, are difficult for being collided with the deformation, and the dismantlement of the first clamping jaw of being convenient for simultaneously and second clamping jaw is convenient for the maintenance of first chain and second chain.

3. Through the setting of guard plate, when first chain presss from both sides tight cylindrical forging with the second chain, avoid cylindrical forging direct and first chain and the contact of second chain, and then prevent that the cinder on the cylindrical forging from droing card first chain and the second chain of dying.

Drawings

FIG. 1 is a schematic view of the overall structure of the present embodiment;

FIG. 2 is a schematic view of the overall structure of the robot clamp;

FIG. 3 is a schematic view, partially in section, of a robot clamp;

FIG. 4 is an enlarged view of A in FIG. 3;

fig. 5 is an enlarged schematic view of B in fig. 3.

Reference numerals: 1. a frame; 2. a work table; 3. a gripping device; 31. a first telescopic arm; 32. a second telescopic arm; 33. a second hydraulic cylinder; 34. a third hydraulic cylinder; 4. an operation table; 5. a manipulator clamp; 51. a U-shaped frame; 52. a clamping mechanism; 521. a first jaw; 5211. a first chain groove; 5212. a first chute; 5213. a first half-jaw; 5214. a second jaw half; 522. a second jaw; 5221. a second chain groove; 5222. a second chute; 5223. a third half-jaw; 5224. a fourth half jaw; 523. a first compensation lever; 524. a second compensation lever; 53. a tensioning mechanism; 531. a first hydraulic cylinder; 532. a tensioning block; 54. a material transferring mechanism; 541. a first chain; 542. a second chain; 543. a first sprocket; 544. a second sprocket; 545. a third sprocket; 546. a fourth sprocket; 6. a drive assembly; 61. a drive motor; 62. a fifth sprocket; 63. a sixth sprocket; 64. a third chain; 7. a protection plate; 71. and (4) anti-skid lines.

Detailed Description

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

Referring to fig. 1, this embodiment provides a forging manipulator of forging of horizontal rotation convenient to, including frame 1, rotate on frame 1 and be connected with workstation 2, be provided with on workstation 2 and be used for pressing from both sides the clamp of getting cylindrical forging and get device 3, with control clamp get device 3's operation panel 4.

The clamping device 3 comprises a first telescopic arm 31, a second telescopic arm 32, a second hydraulic cylinder 33, a third hydraulic cylinder 34 and a manipulator clamp 5, wherein one end of the first telescopic arm 31 is rotatably connected to the workbench 2, the other end of the first telescopic arm 31 is hinged to a piston rod of the second hydraulic cylinder 33, and a cylinder body of the second hydraulic cylinder 33 is hinged to the workbench 2.

The first telescopic arm 31 is sleeved outside the second telescopic arm 32, and the second telescopic arm 32 is connected with the first telescopic arm 31 in a sliding manner along the length direction of the second telescopic arm. The cylinder body of the third hydraulic cylinder 34 is fixedly connected to the outer peripheral surface of the first telescopic arm 31 by a bolt, and the piston rod of the third hydraulic cylinder 34 is fixedly connected to the outer peripheral surface of the second telescopic arm 32 by a bolt.

The manipulator clamp 5 is fixedly connected to the second telescopic arm 32, the manipulator clamp 5 comprises a U-shaped frame 51, a clamping mechanism 52, a tensioning mechanism 53 and a material transferring mechanism 54, the U-shaped frame 51 is fixedly connected to one end, far away from the workbench 2, of the second telescopic arm 32 through a bolt, and the U-shaped frame 51 is symmetrical along the center of the second telescopic arm 32.

Referring to fig. 2, the clamping mechanism 52 includes a first clamping jaw 521, a second clamping jaw 522, a first compensation rod 523 and a second compensation rod 524, the first clamping jaw 521 and the second clamping jaw 522 are both arc-shaped, one end of the first compensation rod 523 is hinged to one end of the U-shaped frame 51, and the other end of the first compensation rod 523 is hinged to the outer circumferential surface of the first clamping jaw 521. One end of the second compensation rod 524 is hinged to one end of the U-shaped frame 51 away from the first compensation rod 523, and the other end of the second compensation rod 524 is hinged to the outer circumferential surface of the second clamping jaw 522.

The tensioning mechanism 53 comprises a first hydraulic cylinder 531 and a tensioning block 532, the first hydraulic cylinder 531 is arranged between the first compensation rod 523 and the second compensation rod 524, a cylinder body of the first hydraulic cylinder 531 is fixedly connected with the U-shaped frame 51 through a bolt, and a piston rod of the first hydraulic cylinder 531 is fixedly connected with the tensioning block 532 through a bolt. One end of the first jaw 521 is hinged to the tensioning block 532 and one end of the second jaw 522 is also hinged to the tensioning block 532.

Referring to fig. 3 and 4, the transferring mechanism 54 includes a first chain 541, a second chain 542, a first chain wheel 543, a second chain wheel 544, a third chain wheel 545, a fourth chain wheel 546 and a driving assembly 6, wherein the first chain wheel 543 is rotatably connected to one end of the first clamping jaw 521 close to the tensioning block 532, the second chain wheel 544 is rotatably connected to one end of the first clamping jaw 521 far from the tensioning block 532, and the first chain 541 is sleeved on the outer peripheral surfaces of the first chain wheel 543 and the second chain wheel 544. The third sprocket 545 is rotatably connected to one end of the second clamping jaw 522 close to the tensioning block 532, the fourth sprocket 546 is rotatably connected to one end of the second clamping jaw 522 away from the tensioning block 532, and the second chain 542 is sleeved on the outer peripheral surfaces of the third sprocket 545 and the fourth sprocket 546.

The driving assembly 6 comprises a driving motor 61, a fifth chain wheel 62, a sixth chain wheel 63 and a third chain 64, the driving motor 61 is fixedly connected to the second clamping jaw 522 through a bolt, an output shaft of the driving motor 61 is in coaxial key connection with the fifth chain wheel 62, the fifth chain wheel 62 is in coaxial key connection with the first chain wheel 543, the sixth chain wheel 63 is in coaxial key connection with the third chain wheel 545, and the third chain 64 is sleeved on the outer peripheral surfaces of the fifth chain wheel 62 and the sixth chain wheel 63. It should be noted that the axial center of the first sprocket wheel 543 should be coaxial with the hinge axes of the first clamping jaw 521 and the tensioning block 532, and the axial center of the third sprocket wheel 545 should be coaxial with the hinge axes of the second clamping jaw 522 and the tensioning block 532.

First jaw 521 and second jaw 522 are hollow, and first jaw 521 includes first half-jaw 5213 and second half-jaw 5214, and second jaw 522 includes third half-jaw 5223 and fourth half-jaw 5224. The first clamping jaw 521 is formed by splicing a first half-jaw 5213 and a second half-jaw 5214, and the first half-jaw 5213 is fixedly connected with the second half-jaw 5214 through a bolt; second jaw 522 is formed by splicing third half-jaw 5223 and fourth half-jaw 5224, and third half-jaw 5223 and fourth half-jaw 5224 are also fixedly connected by bolts.

Referring to fig. 3, a first chain 541, a first sprocket 543, and a second sprocket 544 are disposed in the first jaw 521, and a second chain 542, a third sprocket 545, and a fourth sprocket 546 are disposed in the second jaw 522. As shown in fig. 4, a first chain groove 5211 is formed in one surface of the first clamping jaw 521 close to the cylindrical forging, and a portion of the first chain 541 extends out of the first chain groove 5211. As shown in fig. 5, a second chain groove 5221 is formed in one surface of the second clamping jaw 522 close to the cylindrical forging, and the second chain 542 partially extends out of the second chain groove 5221.

Referring to fig. 4 and 5, a first sliding groove 5212 is formed in the first clamping jaw 521 along the profile thereof, a pin of the first chain 541 is inserted into the first sliding groove 5212, and the pin of the first chain 541 is slidably connected to the first sliding groove 5212 along the length direction of the first sliding groove 5212. A second sliding groove 5222 is formed in the second clamping jaw 522 along the profile of the second clamping jaw, a pin shaft of the second sprocket 544 is inserted into the second sliding groove 5222, and the pin shaft of the second sprocket 544 is connected with the second sliding groove 5222 in a sliding manner along the length direction of the second sliding groove 5222.

Referring to fig. 4 and 5, the protective plates 7 are welded on the surfaces of the first chain 541 and the second chain 542, which are in contact with the hot forged piece, and the protective plates 7 are in contact with the hot forged piece when the forged piece is clamped. The surface of the protection plate 7 abutted to the cylindrical forging is provided with anti-slip lines 71, and the anti-slip lines 71 are obliquely arranged along the running direction of the chain.

The first hydraulic cylinder 531, the second hydraulic cylinder 33, and the third hydraulic cylinder 34 in this embodiment are all powered by oil pumps.

The implementation principle of the embodiment is as follows:

after the forge piece is heated in the forging furnace, the forge piece is conveyed to a feeding area of the forging hammer, and then the forge piece is clamped by the protection plate 7 by rotating the workbench 2, adjusting the second hydraulic cylinder 33 and the third hydraulic cylinder 34 and adjusting the first hydraulic cylinder 531; then, the working platform is rotated, the second hydraulic cylinder 33 and the third hydraulic cylinder 34 are adjusted, the forge piece is placed on the forging platform of the forging hammer, and the forge piece starts to be forged at the same time;

when the first clamping jaw 521 and the second clamping jaw 522 clamp the forged piece, one ends of the first clamping jaw 521 and the second clamping jaw 522, which are far away from the tensioning block 532, cannot be completely closed, so that the forging hammer only needs to hammer the part of the forged piece; after each hammering, the driving motor 61 rotates by a certain angle, so that the first chain 541 and the second chain 542 drive the forging piece to rotate; after the forging rotates for a certain angle, the forging hammer continuously hammers the part of the forging far away from the U-shaped frame 51 until the whole forging is finished;

after forging, the forging is transported to the blanking position by rotating the table 2 and adjusting the second hydraulic cylinder 33 and the third hydraulic cylinder 34.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The manipulator clamp is characterized by comprising a U-shaped frame (51), a clamping mechanism (52), a tensioning mechanism (53) and a material transferring mechanism (54), wherein the clamping mechanism (52) comprises a first clamping jaw (521), a second clamping jaw (522), a first compensation rod (523) and a second compensation rod (524), the first clamping jaw (521) and the second clamping jaw (522) are both arc-shaped, one end of the first compensation rod (523) is hinged to one end of the U-shaped frame (51), the first clamping jaw (521) at the other end of the first compensation rod (523) is hinged to the other end of the first compensation rod, one end of the second compensation rod (524) is hinged to one end, far away from the first compensation rod (523), of the U-shaped frame (51), and the other end of the second compensation rod (524) is hinged to the second clamping jaw (522); the tensioning mechanism (53) comprises a first hydraulic cylinder (531) and a tensioning block (532), a cylinder body of the first hydraulic cylinder (531) is fixedly connected with the U-shaped frame (51), a piston rod of the first hydraulic cylinder (531) is fixedly connected with the tensioning block (532), one end of the first clamping jaw (521) is hinged to the tensioning block (532), and one end of the second clamping jaw (522) is hinged to the tensioning block (532); the material transferring mechanism (54) comprises a first chain (541), a second chain (542), a first chain wheel (543), a second chain wheel (544), a third chain wheel (545), a fourth chain wheel (546) and a driving assembly (6), wherein the first chain wheel (543) and the second chain wheel (544) are respectively connected to two ends of the first clamping jaw (521) in a rotating mode, the first chain (541) is sleeved on the outer peripheral surfaces of the first chain wheel (543) and the second chain wheel (544), the first chain (541) rotates along the outline of the first clamping jaw, the third chain wheel (545) and the fourth chain wheel (546) are respectively connected to two ends of the second clamping jaw (522) in a rotating mode, the second chain (542) is sleeved on the outer peripheral surfaces of the third chain wheel (545) and the fourth chain wheel (546), the second chain (542) rotates along the outline of the second clamping jaw (522), and the first chain (541) and the second chain (542) are respectively abutted to the outer peripheral surface of the cylindrical forge piece, the driving assembly (6) is connected with the first chain wheel (543) and the third chain wheel (545).

2. The manipulator clamp according to claim 1, wherein the first clamping jaw (521) and the second clamping jaw (522) are arranged in a hollow manner, the first chain (541), the first chain wheel (543) and the second chain wheel (544) are arranged in the first clamping jaw (521), the second chain (542), the third chain wheel (545) and the fourth chain wheel (546) are arranged in the second clamping jaw (522), a first chain slot (5211) is formed in one surface, close to the cylindrical forged piece, of the first clamping jaw (521), the first chain (541) partially extends out of the first chain slot (5211), a second chain slot (5221) is formed in one surface, close to the cylindrical forged piece, of the second clamping jaw (522), and a part of the second chain (542) partially extends out of the second chain slot (5221).

3. The manipulator clamp according to claim 2, wherein a first sliding slot (5212) is formed in the first clamping jaw (521), the first sliding slot (5212) is circumferentially arranged along the profile of the first clamping jaw (521), the pin shaft of the first chain (541) is inserted into the first sliding slot (5212), the pin shaft of the first chain (541) is slidably connected with the first sliding slot (5212) along the length direction of the first sliding slot (5212), a second sliding slot (5222) is formed in the second clamping jaw (522), the second sliding slot (5222) is circumferentially arranged along the profile of the second clamping jaw (522), the pin shaft of the second chain wheel (544) is inserted into the second sliding slot (5222), and the pin shaft of the second chain wheel (544) is slidably connected with the second sliding slot (5222) along the length direction of the second sliding slot (5222).

4. A manipulator clamp according to claim 3, wherein the first jaw (521) comprises a first half-jaw (5213) and a second half-jaw (5214), the first jaw (521) is formed by splicing the first half-jaw (5213) and the second half-jaw (5214), the first half-jaw (5213) and the second half-jaw (5214) are fixedly connected by bolts, the second jaw (522) comprises a third half-jaw (5223) and a fourth half-jaw (5224), the second jaw (522) is formed by splicing the third half-jaw (5223) and the fourth half-jaw (5224), and the third half-jaw (5223) and the fourth half-jaw (5224) are also fixedly connected by bolts.

5. The manipulator fixture according to claim 4, wherein the driving assembly (6) comprises a driving motor (61), a fifth chain wheel (62), a sixth chain wheel (63) and a third chain (64), the driving motor (61) is coaxially and fixedly connected with the fifth chain wheel (62), the fifth chain wheel (62) is coaxially and fixedly connected with the first chain wheel (543), the sixth chain wheel (63) is coaxially and fixedly connected with the third chain wheel (545), and the third chain (64) is sleeved on the outer peripheral surfaces of the fifth chain wheel (62) and the sixth chain wheel (63).

6. A manipulator clamp according to any of claims 1-5, wherein guard plates (7) are arranged on both the first chain (541) and the second chain (542).

7. The manipulator clamp according to claim 6, wherein the surface of the protection plate (7) abutting against the cylindrical forging is provided with anti-skid grains (71).

8. A manipulator clamp according to claim 7, wherein the anti-slip threads (71) are arranged obliquely in the direction of travel of the chain.

9. A forging manipulator convenient for horizontally rotating a forging piece comprises a rack (1), wherein a workbench (2) is rotatably connected to the rack (1), a clamping device (3) for clamping a cylindrical forging piece and an operation table (4) for controlling the clamping device (3) are arranged on the workbench (2), and the forging manipulator is characterized in that the clamping device (3) comprises a first telescopic arm (31), a second telescopic arm (32), a second hydraulic cylinder (33), a third hydraulic cylinder (34) and the manipulator clamp (5) according to any one of claims 1 to 8, one end of the first telescopic arm (31) is rotatably connected to the workbench (2), the other end of the first telescopic arm (31) is hinged to a piston rod of the second hydraulic cylinder (33), a cylinder body of the second hydraulic cylinder (33) is hinged to the workbench (2), the first telescopic arm (31) is sleeved outside the second telescopic arm (32), and the second telescopic arm (32) is connected with the first telescopic arm (31) in a sliding manner along the length direction of the second telescopic arm, the cylinder body of the third hydraulic cylinder (34) is fixedly connected with the first telescopic arm (31), the piston rod of the third hydraulic cylinder (34) is fixedly connected with the second telescopic arm (32), the U-shaped frame (51) is fixedly connected to one end, away from the workbench (2), of the second telescopic arm (32), and the axis of the first hydraulic cylinder (531) is parallel to the axis of the third hydraulic cylinder (34).