Protection device for rear lifting of forging manipulator

Abstract

The invention relates to the technical field of forging equipment, and discloses a forging manipulator rear lifting protection device which comprises a supporting table, a hydraulic cylinder is fixedly connected to the outer wall of the supporting table, the inner wall of the supporting table is slidably connected with the outer wall of a transmission block through a sliding block, and the output end of the hydraulic cylinder penetrates through the outer wall of the supporting table to be fixedly connected with the outer wall of the transmission block. The output end of the transmission block is fixedly connected with the end, close to the transmission block, of the supporting rod, the outer wall of the supporting rod is fixedly connected with the outer wall of the clamping jaw, an assembling groove is formed in the inner wall of the supporting table, and a protection mechanism is arranged on the inner wall of the supporting table. By arranging the lever mechanism, lever force is generated on the lifting protection device behind the forging manipulator in the forging process of the forging machine, and the lever force generated by forging operation is buffered through the lever mechanism, so that strenuous vibration of equipment caused by the fact that the lever force acts on the equipment is prevented; and the protection device for the rear lifting of the forging manipulator can be normally used.

Description

Technical Field

[0001] The invention relates to the technical field of forging equipment, in particular to a protective device for rear lifting of a forging manipulator. Background Art

[0002] In modern industrial production, the forging manipulator is one of the important equipment. With the continuous development of forging technology and the increasing production demand, the performance and safety requirements of the forging manipulator are becoming more and more stringent. Among them, the rear lifting part plays a key function in the forging operation. It needs to accurately control the height to adapt to different forging processes. In order to ensure the smooth progress of the forging process and the safety of the operator, a protective device for the rear lifting of the forging manipulator came into being.

[0003] Patent application with application number CN201220159102.4 discloses a protective device for the rear lifting of a forging manipulator, which relates to a rear lifting device for a forging manipulator, which includes a motor, a lifting platform, and a manipulator frame. It also includes a chain, one end of which is connected to the rear of the lifting platform, and the other end is connected to the bottom of the manipulator frame; the original forging manipulator balance block is cancelled, and the rear of the lifting platform is connected to the bottom of the manipulator frame by a chain behind the manipulator. When forging a long shaft, the rear of the lifting platform will not warp up, and when the height of the lifting platform is insufficient, the chain length can be adjusted; the problem of the balance weight falling off due to vibration, causing equipment damage and safety accidents, is solved, making the forging operation safer and achieving the purpose of forging long shaft products.

[0004] However, during the forging process, the existing protective device for lifting the rear of the forging manipulator cannot effectively eliminate the lever force generated by forging, causing the equipment to be in a high-intensity vibration state for a long time during production. This continuous high-intensity vibration greatly increases the risk of equipment breakage. Once a breakage occurs, it will not only affect the production progress, but may also pose a serious threat to the safety of the operators. Frequent high-intensity vibrations will also greatly reduce the life of the equipment, resulting in limited use of the protective device for lifting the rear of the forging manipulator. Summary of the invention

[0005] The object of the present invention is to provide a protective device for the rear lifting of a forging manipulator to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a protective device for rear lifting of a forging manipulator, comprising a support platform, the outer wall of the support platform is fixedly connected to a hydraulic cylinder, the inner wall of the support platform is slidably connected to the outer wall of the transmission block through a slider, the output end of the hydraulic cylinder penetrates the outer wall of the support platform and is fixedly connected to the outer wall of the transmission block, the output end of the transmission block is fixedly connected to one end of the support rod close to the transmission block, the outer wall of the support rod is fixedly connected to the outer wall of the clamping claw, the inner wall of the support platform is provided with an assembly groove, the inner wall of the support platform is provided with a protective mechanism, and further comprises: A lever mechanism, wherein the lever mechanism is arranged on the inner wall of the support platform, the lever mechanism includes hydraulic damping, the outer wall of the hydraulic damping is fixedly connected to the wall of the assembly groove, the output end of the hydraulic damping is fixedly connected to the outer wall of the support block, the outer wall of the support block is hingedly connected to an end of a hinged rod close to the support block through a hinge block, and an end of a hinged rod away from the support block is slidably connected to the wall of the assembly groove, the outer wall of the support block is fixedly connected to the outer wall of the lever sleeve, the inner wall of the lever sleeve is slidably connected to the outer wall of the anti-collision platform through a slider, the inner wall of the anti-collision platform is fixedly connected to the outer wall of the sliding rod, the outer wall of the sliding rod is slidably connected to an inner wall of a limiting sleeve through a slide rail, and the outer wall of the sliding rod is provided with a limiting mechanism.

[0007] According to the above technical solution, the limiting mechanism includes a limiting block 1, the outer wall of the limiting block 1 is rotatably connected to the outer wall of the limiting sleeve 1 through a rotating shaft, the outer wall of the limiting block 1 is hingedly connected to an end of a hinged rod 2 close to the limiting block 1 through a rotating shaft, the end of the hinged rod 2 away from the limiting block 1 is fixedly connected to the outer wall of the connecting block, and the outer wall of the connecting block is slidably connected to the inner wall of the limiting sleeve 2.

[0008] According to the above technical solution, the limiting mechanism also includes a spring 1, one end of which is fixedly connected to the outer wall of the connecting block, and the other end is fixedly connected to the inner wall of the limiting sleeve 2, the outer wall of the connecting block is fixedly connected to the outer wall of the limiting block 2, the outer wall of the limiting block 2 is slidably connected to the outer wall of the limiting sleeve 2 via a slider, and the limiting block 1, hinged rod 2, connecting block and limiting block 2 are all in two groups, and the two groups of limiting block 1, hinged rod 2, connecting block and limiting block 2 are symmetrically arranged on the outer wall of the limiting sleeve 1 with the center line of the limiting sleeve 2 as the axis of symmetry.

[0009] According to the above technical solution, the limiting mechanism also includes a connecting plate, the outer wall of the connecting plate is fixedly connected to the outer wall of the sliding rod, the outer wall of the connecting plate is fixedly connected to the outer wall of the fixed sleeve, the inner wall of the fixed sleeve is slidably connected to the outer wall of the locking rod, and the outer wall of the locking rod is provided with a spring 2, one end of the spring 2 is fixedly connected to the inner wall of the fixed sleeve, and the other end is fixedly connected to the outer wall of the locking rod.

[0010] According to the above technical solution, there are two groups of locking rods, fixing sleeves and springs. The two groups of locking rods, fixing sleeves and springs are symmetrically arranged on both sides of the outer wall of the connecting plate with the center line of the connecting plate as the axis of symmetry. The locking rod passes through the outer wall of the connecting plate near one end of the limiting sleeve and is clamped with the outer wall of the limiting sleeve.

[0011] According to the above technical solution, the protection mechanism includes a connecting rod, wherein one end of the connecting rod close to the support platform is fixedly connected to the inner wall of the support platform, and one end of the connecting rod away from the inner wall of the support platform is hinged to the outer wall of the third hinged rod through a rotating shaft, and the outer wall of the third hinged rod away from the connecting rod is slidingly connected to the inner wall of the fourth limit sleeve, and the inner wall of the fourth limit sleeve is provided with a spring three, one end of the spring three is fixedly connected to the inner wall of the fourth limit sleeve, and the other end is fixedly connected to the outer wall of the third hinged rod.

[0012] According to the above technical scheme, the end of the articulated rod three away from the limit sleeve four is hingedly connected to the end of the reset rod close to the articulated rod three through a rotating shaft, the outer wall of the reset rod is fixedly connected to the outer wall of the limit sleeve one through a connecting shaft, and the number of the articulated rod three and the spring three is four. The two groups of the articulated rod three and the spring three located on the left side of the reset rod are symmetrically arranged on both sides of the inner wall of the limit sleeve four with the center line of the limit sleeve four as the symmetry axis, and the two groups of the articulated rod three and the spring three located on the right side of the reset rod are symmetrically arranged at both ends of the reset rod with the center line of the reset rod as the symmetry axis, and the two groups of the articulated rod three and the spring three located on the left side of the reset rod are symmetrically arranged at both ends of the reset rod.

[0013] The cam is connected to the rotation axis of the control rod and the rotation axis is connected to the rotation axis of the control rod, and the rotation axis is connected to the rotation axis of the control rod, and the rotation axis is connected to the rotation axis of the control rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The protective device for lifting the rear of the forging manipulator is provided with a lever mechanism, which generates a lever force on the protective device for lifting the rear of the forging manipulator during the forging process of the forging machine. The lever force generated by the forging operation is buffered by the lever mechanism to prevent the lever force from acting on the equipment and causing severe vibration of the equipment, so that the protective device for lifting the rear of the forging manipulator can be used normally.

[0015] 2. The protective device for lifting the rear of the forging manipulator is provided with a limiting mechanism. During the forging process of the forging machine, the protective device is limited by the limiting mechanism to prevent excessive vibration of the protective device from causing a decrease in product accuracy. While buffering the lever force generated by the forging equipment, the accuracy of the product is guaranteed, so that the protective device for lifting the rear of the forging manipulator can be used normally.

[0016] 3. The protective device for lifting the forging manipulator at the rear is provided with a protective mechanism, which assists the lever mechanism in buffering the lever force generated by the forging machine and drives the lever mechanism to quickly reset, thereby preventing the buffering failure of the lever mechanism caused by continuous impact during the forging process, resulting in impact on the equipment, so that the protective device for lifting the forging manipulator at the rear can be used normally.

[0017] 4. The protective device for the rear lifting of the forging manipulator is provided with limit block 1 and limit block 2, which perform double limiting on the lever mechanism, and limit block 1 and limit block 2 operate simultaneously, which can synchronously support the lever force generated by the forging machine to increase the force area, prevent damage to the equipment caused by limit failure due to excessive force, and enable the protective device for the rear lifting of the forging manipulator to be used normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the present invention; Figure 3 It is a structural schematic diagram of the lever mechanism of the present invention; Figure 4 It is a structural schematic diagram of the limiting mechanism of the present invention; Figure 5 It is a cross-sectional view of the second limiting sleeve in the limiting mechanism of the present invention; Figure 6 It is a cross-sectional view of the connecting plate and the fixing sleeve in the limiting mechanism of the present invention; Figure 7 is a cross-sectional view of the protection mechanism of the present invention; Figure 8 For the present invention Figure 7 A is an enlarged schematic diagram.

[0019] In the figure: 1, support platform; 2, hydraulic cylinder; 3, support rod; 4, clamping claw; 5, lever mechanism; 501, sliding rod; 502, limit sleeve 1; 503, anti-collision platform; 504, lever sleeve; 505, support block; 506, hydraulic damping; 507, hinged rod 1; 6, limit mechanism; 601, limit block 1; 602, hinged rod 2; 603, limit sleeve 2; 604, limit block 2; 605, connecting rod Connecting plate; 606, fixing sleeve; 607, locking rod; 608, spring one; 609, connecting block; 610, spring two; 7, protection mechanism; 701, connecting rod; 702, hinged rod three; 703, reset rod; 704, rotating rod one; 705, rotating rod two; 706, hinged rod four; 707, limit sleeve three; 708, spring three; 709, limit sleeve four; 8, assembly groove; 9, transmission block. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] For example, see Figure 1-Figure 3 The present invention provides a technical solution: a protective device for the rear lifting of a forging manipulator, comprising a support platform 1, a hydraulic cylinder 2 is fixedly connected to the outer wall of the support platform 1, the inner wall of the support platform 1 is slidably connected to the outer wall of the transmission block 9 through a slider, the output end of the hydraulic cylinder 2 penetrates the outer wall of the support platform 1 and is fixedly connected to the outer wall of the transmission block 9, the output end of the transmission block 9 is fixedly connected to the end of the support rod 3 close to the transmission block 9, the outer wall of the support rod 3 is fixedly connected to the outer wall of the clamp 4, the inner wall of the support platform 1 is provided with an assembly groove 8, the inner wall of the support platform 1 is provided with a protective mechanism 7, and also includes: Lever mechanism 5, the lever mechanism 5 is arranged on the inner wall of the support platform 1, the lever mechanism 5 includes a hydraulic damper 506, the outer wall of the hydraulic damper 506 is fixedly connected to the wall of the assembly groove 8, the output end of the hydraulic damper 506 is fixedly connected to the outer wall of the support block 505, the outer wall of the support block 505 is hingedly connected to the end of the hinged rod 507 close to the support block 505 through a hinge block, the end of the hinged rod 507 away from the support block 505 is slidably connected to the wall of the assembly groove 8, the outer wall of the support block 505 is fixedly connected to the outer wall of the lever sleeve 504, the inner wall of the lever sleeve 504 is slidably connected to the outer wall of the anti-collision platform 503 through a slider, the inner wall of the anti-collision platform 503 is fixedly connected to the outer wall of the sliding rod 501, the outer wall of the sliding rod 501 is slidably connected to the inner wall of the limit sleeve 502 through a slide rail, and the outer wall of the sliding rod 501 is provided with a limiting mechanism 6.

[0022] The working principle of this embodiment is as follows: when the protective device for lifting behind the forging manipulator is put into use, the forging piece is clamped by the clamp 4 for forging, and when the lever force is generated during the forging process, the sliding rod 501 is driven by the support rod 3 to slide on the inner wall of the limiting sleeve 502, and the lever sleeve 504 compresses the hydraulic damping 506 through the support block 505, and limits the sliding rod 501 through the limiting mechanism 6. At the same time, the anti-collision platform 503 slides on the inner wall of the lever sleeve 504, driving the protective mechanism 7 for buffering and then driving it to reset through the protective mechanism 7.

[0023] Example 2, based on Example 1, please refer to Figure 4-Figure 6 The present invention provides a technical solution: the limiting mechanism 6 includes a limiting block 601, the outer wall of the limiting block 601 is rotatably connected to the outer wall of the limiting sleeve 502 through a rotating shaft, the outer wall of the limiting block 601 is hingedly connected to an end of the hinge rod 602 close to the limiting block 601 through a rotating shaft, the end of the hinge rod 602 far from the limiting block 601 is fixedly connected to the outer wall of the connecting block 609, and the outer wall of the connecting block 609 is slidably connected to the inner wall of the limiting sleeve 603; The limiting mechanism 6 also includes a spring 1 608, one end of which is fixedly connected to the outer wall of the connecting block 609, and the other end is fixedly connected to the inner wall of the limiting sleeve 2 603, the outer wall of the connecting block 609 is fixedly connected to the outer wall of the limiting block 2 604, the outer wall of the limiting block 2 604 is slidably connected to the outer wall of the limiting sleeve 2 603 through a slider, the limiting block 1 601, the hinge rod 2 602, the connecting block 609 and the limiting block 2 604 are all in two groups, and the two groups of limiting blocks 1 601, the hinge rod 2 602, the connecting block 609 and the limiting block 2 604 are symmetrically arranged on the outer wall of the limiting sleeve 1 502 with the center line of the limiting sleeve 2 603 as the symmetry axis; The limiting mechanism 6 also includes a connecting plate 605, the outer wall of the connecting plate 605 is fixedly connected to the outer wall of the sliding rod 501, the outer wall of the connecting plate 605 is fixedly connected to the outer wall of the fixing sleeve 606, the inner wall of the fixing sleeve 606 is slidably connected to the outer wall of the locking rod 607, and the outer wall of the locking rod 607 is provided with a second spring 610, one end of the second spring 610 is fixedly connected to the inner wall of the fixing sleeve 606, and the other end is fixedly connected to the outer wall of the locking rod 607; There are two groups of locking rods 607, fixing sleeves 606 and springs 610. The two groups of locking rods 607, fixing sleeves 606 and springs 610 are symmetrically arranged on both sides of the outer wall of the connecting plate 605 with the center line of the connecting plate 605 as the symmetry axis. The locking rod 607 passes through the outer wall of the connecting plate 605 near the end of the limiting sleeve 502 and is clamped with the outer wall of the limiting sleeve 502. The gap on the outer wall of the connecting plate 605 matches the outer wall of the limiting block 601. After the sliding rod 501 drives the connecting plate 605 to contact the outer wall of the limiting block 601 and drives the limiting block 601 to rotate, the outer wall of the connecting plate 605 contacts the top of the limiting block 601 and limits the connecting plate 605 by the limiting block 601. At the same time, it is ensured that the outer wall of the connecting rod 701 contacts the inner wall of the limiting block 604, so that the limiting block 604 limits the connecting plate 605.

[0024] The working principle of this embodiment is as follows: when the sliding rod 501 slides on the inner wall of the limiting sleeve 502, the outer wall of the connecting plate 605 contacts the outer wall of the limiting block 1 601, driving the limiting block 1 601 to rotate. At the same time, the limiting block 1 601 drives the hinged rod 2 602 to compress the spring 1 608 to slide on the inner wall of the limiting sleeve 2 603. The limiting block 2 604 drives the connecting block 609 through the hinged rod 2 602, so that the limiting block 2 604 slides on the outer wall of the limiting sleeve 2 603, so that the inner wall of the limiting block 2 604 contacts the outer wall of the connecting plate 605, and supports the connecting plate 605. After the limiting block 1 601 rotates, the top contacts the outer wall of the connecting plate 605, so that the limiting block 1 601 supports the connecting plate 605. At the same time, the locking rod 607 is squeezed by the spring 2 610 to drive the locking rod 607 to engage with the outer wall of the limiting sleeve 1 502, thereby assisting in supporting the sliding rod 501.

[0025] Example 3, based on Example 1, please refer to Figure 7-Figure 8 The present invention provides a technical solution: the protection mechanism 7 includes a connecting rod 701, one end of the connecting rod 701 close to the support platform 1 is fixedly connected to the inner wall of the support platform 1, and one end of the connecting rod 701 away from the inner wall of the support platform 1 is hinged to the outer wall of the hinge rod three 702 through a rotating shaft, and the outer wall of the hinge rod three 702 away from the connecting rod 701 is slidably connected to the inner wall of the limiting sleeve four 709, and the inner wall of the limiting sleeve four 709 is provided with a spring three 708, one end of the spring three 708 is fixedly connected to the inner wall of the limiting sleeve four 709, and the other end is fixedly connected to the outer wall of the hinge rod three 702; The end of the hinged rod 3 702 away from the limiting sleeve 4 709 is hingedly connected to the end of the reset rod 703 close to the hinged rod 3 702 through a rotating shaft. The number of the hinged rod 3 702 and the spring 3 708 is four groups. The two groups of hinged rods 3 702 and springs 3 708 located on the left side of the reset rod 703 are symmetrically arranged on both sides of the inner wall of the limiting sleeve 4 709 with the center line of the limiting sleeve 4 709 as the symmetry axis. The two groups of hinged rods 3 702 and springs 3 708 located on the right side of the reset rod 703 are symmetrically arranged on both ends of the reset rod 703 with the center line of the reset rod 703 as the symmetry axis. The outer wall of the reset rod 703 is hingedly connected to the outer wall of the rotating rod 1 704 through a rotating shaft, and the inner wall of the rotating rod 1 704 is slidably connected to the outer wall of the rotating rod 2 705 through a slider. The end of the rotating rod 2 705 away from the rotating rod 1 704 is hingedly connected to the end of the hinged rod 4 706 close to the rotating rod 2 705 through a rotating shaft. The outer wall of the hinged rod 4 706 away from the rotating rod 2 705 is slidably connected to the inner wall of the limiting sleeve 3 707. There are four sets of hinged rods 4 706, which are located on the left and right sides of the rotating rod 2 705. The two groups of hinged rods 706 on the side are symmetrically arranged on the inner wall of the limiting sleeve 3 707 with the center line of the limiting sleeve 3 707 as the symmetry axis. The two groups of hinged rods 706 on the right side of the rotating rod 2 705 are symmetrically arranged on both sides of the rotating rod 2 705 with the center line of the rotating rod 2 705 as the symmetry axis and the two groups of hinged rods 706 on the left side of the rotating rod 2 705. There are two groups of protection mechanisms 7, and the two groups of protection mechanisms 7 are symmetrically arranged on both sides of the limiting sleeve 1 502 with the center line of the sliding rod 501 as the symmetry axis.

[0026] The working principle of this embodiment is as follows: when the sliding rod 501 slides on the inner wall of the limiting sleeve 502, the support rod 3 drives the rotating rod 2 705 to slide on the outer wall of the rotating rod 1 704 through the hinge rod 4 706. When the lever force is generated, the sliding rod 501 drives the rotating rod 1 704 to rotate. The rotating rod 1 704 is hinged to the reset rod 703, so that the reset rod 703 drives the hinge rod 3 702 to compress the spring 3 708 and slide on the inner wall of the limiting sleeve 4 709, so as to buffer the lever force and the rotational force, and drive the hinge rod 3 702 and the reset rod 703 to reset through the compression of the spring 3 708.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A protective device for rear lifting of a forging manipulator, comprising a support platform (1), the outer wall of the support platform (1) is fixedly connected to a hydraulic cylinder (2), the inner wall of the support platform (1) is slidably connected to the outer wall of a transmission block (9) via a slider, the output end of the hydraulic cylinder (2) penetrates the outer wall of the support platform (1) and is fixedly connected to the outer wall of the transmission block (9), the output end of the transmission block (9) is fixedly connected to an end of a support rod (3) close to the transmission block (9), the outer wall of the support rod (3) is fixedly connected to the outer wall of a clamp (4), the inner wall of the support platform (1) is provided with an assembly groove (8), and the inner wall of the support platform (1) is provided with a protective mechanism (7), characterized in that: Also includes: A lever mechanism (5), the lever mechanism (5) being arranged on the inner wall of the support platform (1), the lever mechanism (5) comprising a hydraulic damper (506), the outer wall of the hydraulic damper (506) being fixedly connected to the groove wall of the assembly groove (8), the output end of the hydraulic damper (506) being fixedly connected to the outer wall of the support block (505), the outer wall of the support block (505) being hingedly connected to an end of a hinged rod (507) close to the support block (505) through a hinged block, and the hinged rod (507) being away from the support One end of the support block (505) is slidably connected to the groove wall of the assembly groove (8); the outer wall of the support block (505) is fixedly connected to the outer wall of the lever sleeve (504); the inner wall of the lever sleeve (504) is slidably connected to the outer wall of the anti-collision platform (503) via a slider; the inner wall of the anti-collision platform (503) is fixedly connected to the outer wall of the sliding rod (501); the outer wall of the sliding rod (501) is slidably connected to the inner wall of the limiting sleeve (502) via a slide rail; and a limiting mechanism (6) is provided on the outer wall of the sliding rod (501).

2. The protective device for rear lifting of a forging manipulator according to claim 1 is characterized in that: The limiting mechanism (6) comprises a limiting block 1 (601), the outer wall of the limiting block 1 (601) being rotatably connected to the outer wall of the limiting sleeve 1 (502) via a rotating shaft, the outer wall of the limiting block 1 (601) being hingedly connected to an end of a hinged rod 2 (602) close to the limiting block 1 (601) via a rotating shaft, the end of the hinged rod 2 (602) away from the limiting block 1 (601) being fixedly connected to the outer wall of the connecting block (609), the outer wall of the connecting block (609) being slidably connected to the inner wall of the limiting sleeve 2 (603).

3. The protective device for rear lifting of a forging manipulator according to claim 2 is characterized in that: The limiting mechanism (6) further comprises a spring 1 (608), one end of which is fixedly connected to the outer wall of the connecting block (609), and the other end of which is fixedly connected to the inner wall of the limiting sleeve 2 (603); the outer wall of the connecting block (609) is fixedly connected to the outer wall of the limiting block 2 (604); the outer wall of the limiting block 2 (604) is slidably connected to the outer wall of the limiting sleeve 2 (603) via a slider; the limiting block 1 (601), the hinge rod 2 (602), the connecting block (609) and the limiting block 2 (604) are each in two groups; the two groups of limiting blocks 1 (601), the hinge rod 2 (602), the connecting block (609) and the limiting block 2 (604) are symmetrically arranged on the outer wall of the limiting sleeve 1 (502) with the center line of the limiting sleeve 2 (603) as the symmetry axis.

4. The protective device for rear lifting of a forging manipulator according to claim 1 is characterized in that: The limiting mechanism (6) further comprises a connecting plate (605), the outer wall of the connecting plate (605) being fixedly connected to the outer wall of the sliding rod (501), the outer wall of the connecting plate (605) being fixedly connected to the outer wall of the fixing sleeve (606), the inner wall of the fixing sleeve (606) being slidably connected to the outer wall of the locking rod (607), the outer wall of the locking rod (607) being provided with a second spring (610), one end of the second spring (610) being fixedly connected to the inner wall of the fixing sleeve (606), and the other end being fixedly connected to the outer wall of the locking rod (607).

5. The protective device for rear lifting of a forging manipulator according to claim 4 is characterized in that: The number of the locking rod (607), the fixing sleeve (606) and the second spring (610) are two groups, and the two groups of the locking rod (607), the fixing sleeve (606) and the second spring (610) are symmetrically arranged on both sides of the outer wall of the connecting plate (605) with the center line of the connecting plate (605) as the symmetry axis. The locking rod (607) is close to the end of the limiting sleeve (502) that passes through the outer wall of the connecting plate (605) and is clamped with the outer wall of the limiting sleeve (502).

6. The protective device for rear lifting of a forging manipulator according to claim 1 is characterized in that: The protection mechanism (7) comprises a connecting rod (701), wherein one end of the connecting rod (701) close to the support platform (1) is fixedly connected to the inner wall of the support platform (1), and one end of the connecting rod (701) away from the inner wall of the support platform (1) is hingedly connected to the outer wall of the third hinge rod (702) via a rotating shaft, and the outer wall of the third hinge rod (702) away from the connecting rod (701) is slidably connected to the inner wall of the fourth limit sleeve (709), and the inner wall of the fourth limit sleeve (709) is provided with a third spring (708), one end of the third spring (708) is fixedly connected to the inner wall of the fourth limit sleeve (709), and the other end is fixedly connected to the outer wall of the third hinge rod (702).

7. The protective device for rear lifting of a forging manipulator according to claim 6 is characterized in that: The end of the hinged rod three (702) away from the limiting sleeve four (709) is hingedly connected to the end of the reset rod (703) close to the hinged rod three (702) through a rotating shaft, and the outer wall of the reset rod (703) is fixedly connected to the outer wall of the limiting sleeve one (502) through a connecting shaft. The hinged rod three (702) and the spring three (708) are four groups in number. The two groups of the hinged rod three (702) and the spring three (708) located on the left side of the reset rod (703) are symmetrically arranged on both sides of the inner wall of the limiting sleeve four (709) with the center line of the limiting sleeve four (709) as the symmetry axis. The two groups of the hinged rod three (702) and the spring three (708) located on the right side of the reset rod (703) are symmetrically arranged at both ends of the reset rod (703) with the center line of the reset rod (703) as the symmetry axis.

8. The protective device for rear lifting of a forging manipulator according to claim 7 is characterized in that: The outer wall of the reset rod (703) is hingedly connected to the outer wall of the rotating rod one (704) through a rotating shaft, the inner wall of the rotating rod one (704) is slidably connected to the outer wall of the rotating rod two (705) through a sliding block, the end of the rotating rod two (705) away from the rotating rod one (704) is hingedly connected to the end of the hinged rod four (706) close to the rotating rod two (705) through a rotating shaft, the outer wall of the hinged rod four (706) away from the rotating rod two (705) is slidably connected to the inner wall of the limit sleeve three (707), the end of the hinged rod four (706) away from the limit sleeve three (707) is hingedly connected to the outer wall of the support rod (3) through a hinge block, and the hinged rod four The number of the hinged rods (706) is four groups. The two groups of hinged rods (706) located on the left side of the rotating rod (705) are symmetrically arranged on the inner wall of the limiting sleeve (707) with the center line of the limiting sleeve (707) as the symmetry axis. The two groups of hinged rods (706) located on the right side of the rotating rod (705) are symmetrically arranged on both sides of the rotating rod (705) with the center line of the rotating rod (705) as the symmetry axis and the two groups of hinged rods (706) located on the left side of the rotating rod (705). The number of the protection mechanisms (7) is two groups. The two groups of protection mechanisms (7) are symmetrically arranged on both sides of the limiting sleeve (502) with the center line of the sliding rod (501) as the symmetry axis.

Images