Forging heavy load clamping robot

Abstract

The application discloses a forging heavy-load clamping manipulator. The device comprises the following parts: a cylinder body of a telescopic oil cylinder is hinged to a support body, a cylinder rod of the telescopic oil cylinder is hinged to a middle part of a driving arm; a cylinder rod of a lifting oil cylinder is hinged to one end of the driving arm; a cylinder body of an inclination oil cylinder is hinged to one side of an upper end of the support body, a cylinder rod of the inclination oil cylinder is hinged to an upper end of a rear supporting arm; the rear supporting arm, an upper supporting arm, a triangular block and a main arm form a first parallelogram structure; the main arm, a front lifting boom, a push rod and the driving arm form a second parallelogram structure; the front lifting boom, a jaw head, a rear boom and the triangular block form a third parallelogram structure. The application can realize approximate vertical lifting, approximate horizontal telescoping and inclination and elevation, can expand the operation range through the inclination and elevation action, and can realize the inclined loading and taking work through the inclination and elevation at the position which is inconvenient for horizontal taking.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation equipment, in particular to a heavy load clamping manipulator for forging. BACKGROUND

[0002] The manipulator can replace manual work in various harsh working environments to perform some repetitive and dangerous work, and the efficiency brought by the manipulator is incomparable to manual work. In the present forging industry, large forgings have the characteristics of large size, large weight, and high forging requirements, and the temperature requirement in the forging process is very strict, and the transfer process between various forging equipment must be completed in a short time, which puts very high requirements on the handling process of the workpiece.

[0003] The manipulators used in various forging plants cannot meet the requirements of driving large loads while achieving rapidity and accuracy during handling, and most of the handling processes are short and have low stability.

[0004] In the prior art, for example, a heavy load handling manipulator for forging disclosed in CN 105082107 B includes a walking mechanism, a displacement adjustment mechanism, a clamping mechanism, and a power mechanism for driving the clamping mechanism. The clamping mechanism is arranged on the walking mechanism through the displacement adjustment mechanism and moves synchronously with the walking mechanism. The clamping mechanism is driven by the displacement adjustment mechanism to move in the horizontal direction and the vertical direction to achieve the purpose of handling objects by the clamping mechanism. Three groups of parallelogram structures play a major role. However, when the target object is in a position that cannot be horizontally taken, such as above or around the existence of obstacles, the manipulator cannot reach the target position, and the loading and unloading action cannot be completed.

[0005] For example, a loading and unloading servo simulation manipulator disclosed in CN 102689299 A is composed of a front arm, an intermediate arm, a rear arm, an upper arm, a lower arm, a connecting plate, an upper elbow rod, a lower elbow rod, and a rotary workbench. Three parallelograms are hinged to realize the loading and unloading action through vertical lifting, horizontal movement, and clamping action. However, when the target object is in a position that cannot be horizontally taken, such as above or around the existence of obstacles, the manipulator cannot reach the target position, and the loading and unloading action cannot be completed.

[0006] For example, a manipulator arm disclosed in CN 200974239 Y adopts several groups of parallelograms to realize approximate vertical lifting and approximate horizontal telescopic movement of the manipulator. However, when the target object is in a position that cannot be horizontally taken, such as above or around the existence of obstacles, the manipulator cannot reach the target position, and the loading and unloading action cannot be completed.

[0007] To solve the above technical problems, the present application provides a heavy load clamping manipulator for forging. SUMMARY

[0008] The purpose of the present application is to overcome the deficiencies of the prior art, and provide a forging heavy load clamping manipulator, which can realize approximate vertical lifting, approximate horizontal extension and tilting, and can realize oblique loading and taking work through tilting in positions which are inconvenient for horizontal taking.

[0009] To achieve the above purpose, the present application provides the following technical scheme:

[0010] A forging heavy load clamping manipulator comprises a base, a lifting oil cylinder, a support body, an extension oil cylinder, a tilting oil cylinder, a rear support arm, an upper support arm, a driving arm, a main arm, a triangular block, a front lifting boom, a push rod, a rear boom and a clamping part.

[0011] The clamping part comprises a jaw head, a clamping arm and a jaw opening part, which are connected in sequence, one end of the clamping arm is connected with the jaw head, the other end of the clamping arm is connected with the jaw opening part, a clamping oil cylinder is arranged on the jaw head, which can drive the jaw opening part to realize clamping and loosening, and the clamping part is a mechanical structure which has been used in prior art equipment and can be directly used.

[0012] The support body is vertically fixed on the base.

[0013] The cylinder body of the lifting oil cylinder is hinged on the base, and the cylinder rod of the lifting oil cylinder is hinged with one end of the driving arm; the other end of the driving arm is hinged with the middle part of the main arm.

[0014] The cylinder body of the extension oil cylinder is hinged with the middle part of the support body; the cylinder rod of the extension oil cylinder is hinged with the middle part of the driving arm.

[0015] The cylinder body of the tilting oil cylinder is hinged with one side of the upper end of the support body, and the cylinder rod of the tilting oil cylinder is hinged with the upper end of the rear support arm.

[0016] The lower end of the rear support arm is hinged with the other side of the upper end of the support body, one end of the upper support arm is hinged with the upper end of the rear support arm, and one end of the upper support arm and the cylinder rod of the tilting oil cylinder are hinged with the rear support arm at the same position; the other end of the upper support arm is hinged with the first corner of the triangular block.

[0017] One end of the main arm is hinged with the other side of the upper end of the support body, and one end of the main arm is hinged with the support body at the same position as the lower end of the rear support arm; the other end of the main arm is hinged with the second corner of the triangular block.

[0018] The upper end of the front lifting boom is hinged with the second corner of the triangular block, and the upper end of the front lifting boom and the other end of the main arm are hinged with the second corner of the triangular block at the same position; the lower end of the front lifting boom is hinged above the jaw head.

[0019] The upper end of the rear boom is hinged with the third corner of the triangular block, and the lower end of the rear boom is hinged above the jaw head.

[0020] The hinge between the front lifting boom and the jaw head is located in front of the hinge between the rear boom and the jaw head, and the front side is the side facing the jaw head;

[0021] One end of the push rod is hinged to the front lifting boom at an upper intermediate position of the front lifting boom, and the other end of the push rod is hinged to one end of the driving arm, and the other end of the push rod and the cylinder rod of the lifting cylinder are hinged to the driving arm at the same position;

[0022] The rear support arm, the upper support arm, the triangular block, and the main arm form a first parallelogram structure;

[0023] The main arm, the front lifting boom, the push rod, and the driving arm form a second parallelogram structure;

[0024] The front lifting boom, the jaw head, the rear boom, and the triangular block form a third parallelogram structure.

[0025] Preferably, the triangular block is a right-angled triangular block, and the front lifting boom is hinged to the right angle of the triangular block.

[0026] Preferably, the triangular block is a right-angled isosceles triangle.

[0027] Preferably, the upper support arm is an arched arm with a high middle and downward extensions at both ends.

[0028] Preferably, the arched part of the upper support arm is 60-80% of the overall length.

[0029] Preferably, the distance between the connection of the telescopic cylinder and the tilting cylinder and the support body is equal to 10-40% of the overall height of the support body.

[0030] Preferably, the hinge between the tilting cylinder and the support body is lower than the hinge between the main arm and the support body.

[0031] Preferably, the length of the driving arm is equal to 35-50% of the length of the front lifting boom.

[0032] Preferably, the front side of the front lifting boom is provided with multiple groups of reinforcing ribs to strengthen the strength of the front lifting boom.

[0033] Specifically, when the approximate horizontal extension action is needed, the tilting cylinder remains the original length, the telescopic cylinder needs to extend the cylinder rod, and the lifting cylinder cooperates accordingly. The cylinder rod of the telescopic cylinder drives the driving arm to rotate clockwise around the hinge with the main arm, thereby pushing the second parallelogram structure to move forward. At the same time, the first parallelogram structure moves in coordination, thereby driving the third parallelogram structure to move forward, thereby realizing the approximate horizontal extension action.

[0034] When the approximate horizontal retraction action is needed, the tilt cylinder keeps the original length, the telescopic cylinder needs to shorten the cylinder rod, and the lifting cylinder cooperates accordingly. The cylinder rod of the telescopic cylinder drives the driving arm to rotate counterclockwise around the hinge with the main arm, and then pushes the second parallelogram structure to move backward, and the first parallelogram structure cooperates to move, and then drives the third parallelogram structure to move backward, thereby realizing the approximate horizontal retraction action.

[0035] When the approximate vertical lifting action is needed, the tilt cylinder keeps the original length, the lifting cylinder needs to lengthen the cylinder rod, and the telescopic cylinder cooperates accordingly. The cylinder rod of the lifting cylinder pushes the second parallelogram structure to move upward, and the first parallelogram rotates clockwise relative to the rear support arm, and then realizes the upward movement of the third parallelogram structure, thereby realizing the approximate vertical lifting action.

[0036] When the approximate vertical lowering action is needed, the tilt cylinder keeps the original length, the lifting cylinder needs to shorten the cylinder rod, and the telescopic cylinder cooperates accordingly. The cylinder rod of the lifting cylinder pulls the second parallelogram structure to move downward, and the first parallelogram rotates counterclockwise relative to the rear support arm, and then realizes the downward movement of the third parallelogram structure, thereby realizing the approximate vertical lowering action.

[0037] When the upward action is needed, the tilt cylinder needs to shorten the cylinder rod, and the lifting cylinder and the telescopic cylinder cooperate accordingly. After the cylinder rod of the tilt cylinder is shortened, the rear support arm rotates clockwise around the hinge with the support body, the upper support arm rotates accordingly, and then the triangular block rotates clockwise around the second angle, so that the third angle is lower than the second angle, the rear lifting rod in the third parallelogram structure moves downward, and the hinge between the jaw head and the rear lifting rod moves downward, lower than the hinge between the jaw head and the front lifting rod, thereby realizing the upward tilting of the clamping arm and the jaw.

[0038] When the downward action is needed, the tilt cylinder needs to lengthen the cylinder rod, and the lifting cylinder and the telescopic cylinder cooperate accordingly. After the tilt cylinder is lengthened, the rear support arm rotates counterclockwise around the hinge with the support body, the upper support arm rotates accordingly, and then the triangular block rotates counterclockwise around the second angle, so that the third angle is higher than the second angle, the rear lifting rod in the third parallelogram structure moves upward and rotates counterclockwise around the hinge with the triangular block, so that the hinge between the jaw head and the rear lifting rod moves upward, higher than the hinge between the jaw head and the front lifting rod, thereby realizing the downward tilting of the clamping arm and the jaw.

[0039] When the upward or downward action is performed, the clamping cylinder drives the jaw part to clamp or release, in order to ensure the stability during clamping, the clamping surface of the jaw part can be widened and increased, or a movable jaw with large contact area is movably installed inside the jaw part, the contact surface inside the movable jaw has large friction coefficient, thereby the stability and safety during clamping the target object are further enhanced.

[0040] For those skilled in the art, the upward and downward actions can be used to achieve the clamping effect.

[0041] The present application has the following beneficial effects:

[0042] The present application realizes the approximate vertical lifting, approximate horizontal extension and downward and upward tilting by setting three groups of parallelogram structures and lifting cylinders, extension cylinders, tilting cylinders and clamping cylinders, and the stability and accuracy of each action are enhanced by the cooperation and interaction of the three groups of parallelogram structures.

[0043] The present application realizes the upward and downward tilting actions by setting the rear supporting arm, the upper supporting arm, the triangular block, the first parallelogram structure composed of the main arm and the tilting cylinder, driving the first parallelogram to rotate by the extension and contraction of the tilting cylinder, driving the third parallelogram to rotate by the triangular block, the front lifting boom and the jaw part, and the rear boom forming the third parallelogram structure, thereby realizing the upward and downward tilting actions, and when the target object is in a position that cannot be horizontally taken, such as above or around the obstacles, the upward or downward tilting actions can be used to realize the clamping or releasing of the target object.

[0044] By using the above scheme, the present application can realize the approximate vertical lifting, approximate horizontal extension and downward and upward tilting, expand the operation range by the downward and upward tilting actions, and realize the inclined loading and taking work by the downward and upward tilting actions in the position that is not convenient for horizontal taking. BRIEF DESCRIPTION OF DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows, obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0046] Figure 1 is a horizontal extension action schematic diagram of the present application.

[0047] Figure 2 is a horizontal retraction action schematic diagram of the present application.

[0048] Figure 3 is a vertical lifting action schematic diagram of the present application.

[0049] Figure 4 is a vertical lowering action schematic diagram of the present application.

[0050] Figure 5 is a vertical lowering action schematic diagram of the present application.

[0051] Figure 6 is a vertical lowering action schematic diagram of the present application.

[0052] In the figure, 1 - base, 2 - lifting cylinder, 3 - support body, 4 - telescopic cylinder, 5 - tilting cylinder, 6 - rear support arm, 7 - upper support arm, 8 - driving arm, 9 - main arm, 10 - triangular block, 11 - front lifting boom, 12 - push rod, 13 - rear boom, 14 - jaw head, 15 - clamping arm, 16 - jaw mouth. Embodiment

[0053] In order to make the technical problems to be solved by the present application, technical solutions and beneficial effects clearer, the present application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not intended to limit the present application.

[0054] It should be noted that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or 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 indirectly connected to the other element.

[0055] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application and simplify the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0056] In addition, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0057] As Figure 1As shown, a forging heavy load clamping mechanical hand comprises a base 1, a lifting oil cylinder 2, a support body 3, a telescopic oil cylinder 4, an inclined oil cylinder 5, a rear support arm 6, an upper support arm 7, a driving arm 8, a main arm 9, a triangular block 10, a front lifting boom 11, a push rod 12, a rear boom 13 and a clamping part;

[0058] The clamping part comprises a jaw head part 14, a clamping arm 15 and a jaw opening part 16, which are sequentially connected, one end of the clamping arm 15 is connected with the jaw head part 14, the other end of the clamping arm 15 is connected with the jaw opening part 16, the jaw head part 14 is provided with a clamping oil cylinder, which can drive the jaw opening part 16 to realize clamping and loosening, and the clamping part is a mechanical structure which has been used in the prior art equipment and can be directly used.

[0059] The cylinder body of the telescopic oil cylinder 4 is hingedly connected to the upper middle of the support body 3; the cylinder rod of the telescopic oil cylinder 4 is hingedly connected to the middle part of the driving arm 8; the support body 3 is vertically fixed on the base 1; the cylinder body of the lifting oil cylinder 2 is hingedly connected to the base 1; the cylinder rod of the lifting oil cylinder 2 is hingedly connected to one end of the driving arm 8; the other end of the driving arm 8 is hingedly connected to the middle part of the main arm 9; the cylinder body of the inclined oil cylinder 5 is hingedly connected to one side of the upper end of the support body 3; the cylinder rod of the inclined oil cylinder 5 is hingedly connected to the upper end of the rear support arm 6;

[0060] The lower end of the rear support arm 6 is hingedly connected to the other side of the upper end of the support body 3; one end of the upper support arm 7 is hingedly connected to the upper end of the rear support arm 6; one end of the upper support arm 7 and the cylinder rod of the inclined oil cylinder 5 are hingedly connected to the rear support arm 6 at the same position;

[0061] The other end of the upper support arm 7 is hingedly connected to the first corner of the triangular block 10; one end of the main arm 9 is hingedly connected to the other side of the upper end of the support body 3; one end of the main arm 9 is hingedly connected to the support body 3 at the same position as the lower end of the rear support arm 6; the other end of the main arm 9 is hingedly connected to the second corner of the triangular block 10;

[0062] The upper end of the front lifting boom 11 is hingedly connected to the second corner of the triangular block 10; the upper end of the front lifting boom 11 and the other end of the main arm 9 are hingedly connected to the second corner of the triangular block 10 at the same position; the lower end of the front lifting boom 11 is hingedly connected to the upper side of the jaw head part 14; the upper end of the rear boom 13 is hingedly connected to the third corner of the triangular block 10; the lower end of the rear boom 13 is hingedly connected to the upper side of the jaw head part 14; the hinged position of the front lifting boom 11 to the upper side of the jaw head part 14 is located in front of the hinged position of the rear boom 13 to the upper side of the jaw head part 14, and the front side is the side facing the jaw opening part 16;

[0063] One end of the push rod 12 is hingedly connected to the front lifting boom 11 at the upper middle of the front lifting boom 11; the other end of the push rod 12 is hingedly connected to one end of the driving arm 8; the other end of the push rod 12 and the cylinder rod of the lifting oil cylinder 4 are hingedly connected to the driving arm 8 at the same position;

[0064] The rear support arm 6, upper support arm 7, triangular block 10, and main arm 9 form the first parallelogram structure; the main arm 9, front lifting rod 11, push rod 12, and drive arm 8 form the second parallelogram structure; the front lifting rod 11, clamp head 14, rear lifting rod 13, and triangular block 10 form the third parallelogram structure.

[0065] like Figure 1 As shown, when an approximately horizontal extension action is required, the tilting cylinder 5 maintains its original length, so that the second and third corners of the triangular block 10 are on the same horizontal line, thereby keeping the clamp head 14 horizontal. The telescopic cylinder 4 needs to extend its cylinder rod, and the lifting cylinder 2 cooperates accordingly. The cylinder rod of the telescopic cylinder 4 drives the drive arm 8 to rotate clockwise around the hinge point with the main arm 9, thereby pushing the second parallelogram structure forward. At the same time, the first parallelogram structure moves in coordination, thereby driving the third parallelogram structure forward, thus achieving an approximately horizontal extension action.

[0066] like Figure 2 As shown, when an approximately horizontal retraction action is required, the tilting cylinder 5 maintains its original length, so that the second and third corners of the triangular block 10 are on the same horizontal line, thereby keeping the clamp head 14 horizontal. The telescopic cylinder 4 needs to shorten its cylinder rod, and the lifting cylinder 2 cooperates accordingly. The cylinder rod of the telescopic cylinder 4 drives the drive arm 8 to rotate counterclockwise around the hinge point with the main arm 9, thereby pushing the second parallelogram structure to move backward as a whole. At the same time, the first parallelogram structure moves in coordination, thereby driving the third parallelogram structure to move backward as a whole, thus achieving an approximately horizontal retraction action.

[0067] like Figure 3 As shown, when an approximately vertical upward movement is required, the tilting cylinder 5 maintains its original length, so that the second and third angles of the triangular block 10 are on the same horizontal line, thereby keeping the clamp head 14 horizontal. The lifting cylinder 2 needs to extend its cylinder rod, and the telescopic cylinder 4 cooperates accordingly. The cylinder rod of the lifting cylinder 2 pushes the second parallelogram structure to move upward as a whole, while the first parallelogram rotates clockwise relative to the rear support arm 6, thereby realizing the upward movement of the third parallelogram structure, thus achieving an approximately vertical upward movement.

[0068] like Figure 4 As shown, when an approximately vertical descent is required, the tilting cylinder 5 maintains its original length, so that the second and third angles of the triangular block 10 are on the same horizontal line, thereby keeping the clamp head 14 horizontal. The lifting cylinder 2 needs to shorten its cylinder rod, and the telescopic cylinder 4 cooperates accordingly. The cylinder rod of the lifting cylinder 2 pulls the second parallelogram structure down as a whole, while the first parallelogram rotates counterclockwise relative to the rear support arm 6, thereby realizing the downward movement of the third parallelogram structure, thus achieving an approximately vertical descent.

[0069] likeFigure 5 As shown, when the upward action is needed, the tilt cylinder 5 needs to shorten the cylinder rod, and the lifting cylinder 2 and the telescopic cylinder 4 cooperate with it. After the cylinder rod of the tilt cylinder 5 is shortened, the rear support arm 6 is driven to rotate clockwise around the hinge with the support body 3, the upper support arm 7 is rotated, and then the triangular block 10 is rotated clockwise around the second angle, so that the third angle is lower than the second angle, the rear lifting rod in the third parallelogram structure is lowered, the hinge between the jaw head 14 and the rear lifting rod 13 is lowered, which is lower than the hinge between the jaw head 14 and the front lifting rod 11, and then the clamping arm 15 and the jaw portion 16 are raised. When the target object needs to be clamped upward, the above operation can be used for clamping.

[0070] As shown, Figure 6 When the downward action is needed, the tilt cylinder 5 needs to lengthen the cylinder rod, and the lifting cylinder 2 and the telescopic cylinder 4 cooperate with it. After the cylinder rod of the tilt cylinder 5 is lengthened, the rear support arm 6 is driven to rotate counterclockwise around the hinge with the support body 3, the upper support arm 7 is rotated, and then the triangular block 10 is rotated counterclockwise around the second angle, so that the third angle is higher than the second angle, the rear lifting rod 13 in the third parallelogram structure is raised and rotates counterclockwise around the hinge with the triangular block 10, so that the hinge between the jaw head 14 and the rear lifting rod 13 is raised, which is higher than the hinge between the jaw head 14 and the front lifting rod 11, and then the clamping arm 15 and the jaw portion 16 are lowered. When the target object needs to be clamped upward, the above operation can be used for clamping.

[0071] The above is only a preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement and improvement within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A forging heavy load clamping manipulator, comprising a base, a lifting oil cylinder, a support body, a telescopic oil cylinder, and a clamping part, the support body is vertically fixed on the base, the cylinder body of the lifting oil cylinder is hinged on the base, the clamping part comprises a jaw head part, a clamping arm and a jaw part, one end of the clamping arm is connected with the jaw head part, the other end of the clamping arm is connected with the jaw part, and a clamping oil cylinder is arranged on the jaw head part; characterized in that: The lifting oil cylinder is hinged on the base, and the cylinder rod of the lifting oil cylinder is hinged on one end of the driving arm; the other end of the driving arm is hinged on the middle part of the main arm; the cylinder body of the tilting oil cylinder is hinged on one side of the upper end of the support body, and the cylinder rod of the tilting oil cylinder is hinged on the upper end of the rear support arm; The lower end of the rear support arm is hinged on the other side of the upper end of the support body, one end of the upper support arm and the cylinder rod of the tilting oil cylinder are hinged on the rear support arm at the same position, and the other end of the upper support arm is hinged on the first corner of the triangular block; one end of the main arm is hinged on the support body at the same position as the lower end of the rear support arm; the other end of the main arm is hinged on the second corner of the triangular block; the upper end of the front lifting boom is hinged on the second corner of the triangular block at the same position as the other end of the main arm; and the lower end of the front lifting boom is hinged above the jaw part. The upper end of the rear lifting boom is hinged on the third corner of the triangular block, and the lower end of the rear lifting boom is hinged above the jaw part; the hinge position of the front lifting boom above the jaw part is located in front of the hinge position of the rear lifting boom above the jaw part; One end of the push rod is hinged on the front lifting boom at a position above the middle of the front lifting boom, and the other end of the push rod is hinged on the driving arm at the same position as the cylinder rod of the lifting oil cylinder; The rear support arm, the upper support arm, the triangular block and the main arm form a first parallelogram structure. The main arm, the front lifting boom, the push rod and the driving arm form a second parallelogram structure. The front lifting boom, the jaw part, the rear lifting boom and the triangular block form a third parallelogram structure. The triangular block is a right-angled triangular block.

2. The forging heavy load clamping robot according to claim 1, characterized in that: The upper support arm is an arched arm with a high middle and downward extending two ends.

3. The forging heavy load gripping robot according to claim 1, characterized in that: The distance between the connection positions of the telescopic oil cylinder and the tilting oil cylinder and the support body is equal to 10-40% of the overall height of the support body.

4. The forging heavy load gripping robot manipulator according to claim 1, characterized in that: The hinge position of the tilting oil cylinder and the support body is lower than the hinge position of the main arm and the support body.

5. The forging heavy load gripping robot as claimed in claim 1, wherein: The length of the driving arm is equal to 35-50% of the length of the front lifting boom.

6. The forging heavy load gripping robot manipulator according to claim 1, characterized in that: The front side of the front lifting boom is provided with a plurality of reinforcing ribs.

7. The forging heavy load gripping robot manipulator according to claim 1, characterized in that: The front lifting boom is hinged on the right angle of the triangular block.

8. The forging heavy load gripping robot manipulator according to claim 2, characterized in that: The triangular block is a right-angled isosceles triangle.

9. The forging heavy load gripping robot manipulator according to claim 2, characterized in that: The arched part of the upper support arm is 60-80% of the overall length.

10. The forging heavy load gripping robot manipulator according to claim 3, characterized in that: ​

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