Walking beam carrying device for polar plate production or forging process production

Abstract

The invention relates to the technical field related to forging equipment, and discloses a walking beam carrying device for polar plate production or forging process production. Comprising walking beams arranged in parallel and driving mechanisms located at the ends of the walking beams, each driving mechanism comprises an X-direction driving mechanism, a Y-direction driving mechanism and a Z-direction driving mechanism, and the X-direction driving mechanisms, the Y-direction driving mechanisms and the Z-direction driving mechanisms cooperate to drive the corresponding walking beams to reciprocate in the three-dimensional direction; according to the walking beam carrying device, the driving mechanism and the Z-direction driving mechanism are directly connected with the X-direction driving mechanism, the X-direction driving mechanism is directly connected with the Y-direction driving mechanism, no transmission link exists among the driving mechanism, the Z-direction driving mechanism, the X-direction driving mechanism and the Y-direction driving mechanism, the structure is simple, the transmission efficiency is high, in addition, the carrying device is of a flexible structure, partial interference can be counteracted, and the carrying effect is good. And stable operation of equipment is ensured.

Description

Technical Field

[0001] The invention relates to the technical field related to forging equipment, and in particular to a walking beam transport device for polar plate production or forging process production. Background Art

[0002] The plate is a porous sheet composed of active materials and a "current collector" for support and conduction. The process flow of plate production mainly includes material preparation, forming and segmentation, nickel plating, fine processing and other steps. The forming of the plate is completed by stamping forming equipment.

[0003] Forging is a processing method that uses forging machinery to apply pressure to metal billets to cause them to deform plastically, thereby obtaining forgings with specific mechanical properties, shapes and sizes. The forging process covers billet preparation, which is to select materials and process them into billets according to forging requirements, involving cutting, heating, etc.; forging processing, which is to place the heated billet on the equipment and control the forging ratio, temperature, speed and other parameters to make it deform plastically; subsequent processing, including cooling, trimming, punching, correction, and possible heat treatment and surface treatment, to improve performance and surface quality. Forging technology is widely used in machinery manufacturing, automotive industry, aerospace and other fields, and plays a key role in ensuring the performance and quality of key components in various industries.

[0004] The walking beam is a key equipment for plate production and forging automated production and for handling billets. It is usually driven by a servo motor or hydraulic system. When working, the servo motor or hydraulic system drives the beams on both sides, so that the clamps set on the beams can clamp the billet, lift and transfer the billet, and then the servo motor or hydraulic system drives it again to put down the billet and release the clamps, and the operation is cyclic.

[0005] Traditional forging production lines mostly consist of multiple separate presses and multiple people working alone, which results in low production efficiency and large equipment footprint. Based on this defect, the prior art proposes patent CN216575372U, which discloses a servo synchronously driven ten-axis automatic handling device. Relying on the synchronous control of the servo motor, it can clamp products at each workstation at the same time, realize automatic handling of products in the mold, reduce personnel participation and operation intensity, and increase production efficiency exponentially.

[0006] However, this solution has new defects: First, a transmission link is provided between the driving modules of the transport device, which makes the structure more complicated and causes a large loss of kinetic energy; Second, the handling device is only equipped with a driving module for transferring the blank on the same side of the two beams, while the other side is hinged, resulting in low precision in transferring the blank and slow production cycle; Third, in the process of transporting the blank, if there is an error in the production rhythm, the walking beam may interfere with other structures on the forging production line. If the interference intensity is large, the walking beam or other structures may be damaged. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a walking beam transport device for polar plate production or forging process production.

[0008] The walking beam transport device for plate production or forging process production according to the present invention comprises walking beams arranged in parallel and a driving mechanism located at the end of each walking beam, each driving mechanism comprises an X-direction driving mechanism, a Y-direction driving mechanism and a Z-direction driving mechanism, and the X-direction driving mechanism, the Y-direction driving mechanism and the Z-direction driving mechanism cooperate to drive the corresponding walking beam to generate a reciprocating motion in three-dimensional directions; Specifically, the walking beam handling device generally has two walking beams, which are arranged in parallel with each other, and a clamp is arranged in the middle of the two walking beams. When the X-direction driving mechanism controls the two walking beams to move toward each other, the blank can be clamped by the clamp, and when the two walking beams are controlled to move in opposite directions, the blank can be put down. The Y-direction driving mechanism controls the forward and backward displacement movement of the two walking beams to complete the operation of transferring the blank, working and resetting. The Z-direction driving mechanism controls the up and down displacement movement of the two walking beams, and is also used to complete the operation of transferring the blank, working and resetting. The difference from the conventional walking beam transport device is that: the transport device also includes a frame fixedly arranged relative to the walking beam, the Z-direction driving mechanism includes a Z-direction track fixedly connected to the frame and a Z-direction displacement plate slidably connected to the Z-direction track, and the Z-direction displacement plate is driven by a Z-direction ball screw pair and a Z-direction servo motor; The X-axis driving mechanism comprises an X-axis track fixedly connected to the Z-axis displacement plate, and an X-axis displacement plate slidably connected to the X-axis track, wherein the X-axis displacement plate is driven by an X-axis ball screw pair and an X-axis servo motor; The Y-direction driving mechanism includes a Y-direction track fixedly connected to the X-direction displacement plate, a Y-direction displacement plate slidably connected to the Y-direction track, and a Y-direction sleeve driven by a Y-direction ball screw pair and a Y-direction servo motor, the Y-direction displacement plate is connected to the Y-direction sleeve, and one end of the Y-direction sleeve is connected to the end of the stepping beam; In the driving mechanism arranged in this way, the Z-direction driving mechanism is directly connected to the X-direction driving mechanism, and the X-direction driving mechanism is directly connected to the Y-direction driving mechanism, and there is no transmission link between the three, so the structure is simple and the transmission efficiency is high; In addition, each driving mechanism includes an X-axis driving mechanism, a Y-axis driving mechanism and a Z-axis driving mechanism, and the two stepping beams correspond to twelve driving mechanisms, so that the twelve servo motors are directly driven synchronously, which ensures the synchronization of the handling action, improves the operation accuracy, and facilitates the independent adjustment of each axis.

[0009] In some examples of the present invention, the handling device further includes a drive mechanism housing, the drive mechanism housing is fixedly connected to the frame, and the X-direction drive mechanism and the Z-direction drive mechanism are both disposed in the drive mechanism housing; The purpose of such arrangement is to enclose the X-axis driving mechanism and the Z-axis driving mechanism in the housing of the driving mechanism to prevent each mechanism from being exposed to the outside and entering dust, while the housing serves as a supporting component for each structure.

[0010] In some examples of the present invention, the Z-axis servo motor is fixedly installed in a driving mechanism housing, and its output end is connected to the screw of the Z-axis ball screw pair, and the nut of the Z-axis ball screw pair is fixedly connected to the Z-axis displacement plate, that is, the Z-axis displacement plate is directly driven by the Z-axis servo motor through the transmission action of the Z-axis ball screw pair.

[0011] In some examples of the present invention, a cylinder is fixedly disposed in the driving mechanism housing, and an output end of the cylinder is fixedly connected to the Z-axis displacement plate, wherein the function of the cylinder is to guide the Z-axis displacement plate to prevent it from being skewed.

[0012] In some examples of the present invention, the X-axis servo motor is fixedly installed in the driving mechanism housing, and its output end is connected to the screw of the X-axis ball screw pair, and the nut of the X-axis ball screw pair is fixedly connected to the X-axis displacement plate, that is, the X-axis displacement plate is directly driven by the X-axis servo motor through the transmission action of the X-axis ball screw pair.

[0013] In some examples of the present invention, the X-axis displacement plate extends out of the driving mechanism housing and is connected to the Y-axis track through a plate body, the Y-axis servo motor is fixedly connected to the plate body, the output end of the Y-axis servo motor is connected to the screw of the Y-axis ball screw pair, the nut of the Y-axis ball screw pair is connected to the Y-axis sleeve, and the Y-axis sleeve is fixedly connected to the Y-axis displacement plate; The purpose of such arrangement is that the plate body can wrap the Y-direction driving mechanism and seal it, and at the same time, the Y-direction sleeve is directly driven by the Y-direction servo motor through the transmission action of the Y-direction ball screw pair.

[0014] In some examples of the present invention, a flexible mechanism is further provided between the Y-direction sleeve and the end of the walking beam, the flexible mechanism comprises a connecting section respectively connected to the Y-direction sleeve and the end of the walking beam, the connecting section comprises a female section having a spherical body and a male section having a spherical groove, so that part of the spherical body can be accommodated in the spherical groove to rotate in any direction, and the female section and the male section are further connected by a first elastic body; The purpose of such a setting is that when the precision of the driving mechanism decreases, causing the production rhythm of the walking beam to lag behind, or other unexpected circumstances cause the walking beam to slightly interfere with other structures on the forging production line, the flexible mechanism can enable the operation process of the walking beam to accept the interference of this part, or resolve the interference of this part through a slight misalignment of the walking beam, thereby avoiding wear and even damage to the equipment caused by interference; During this process, the connecting section can cause misalignment in almost any direction between the stepping beam and the driving mechanism, and the first elastic body can limit the misalignment, so that the stepping beam can remain coaxial with the Y-axis sleeve and perform normal operation under normal circumstances. At the same time, the first elastic body can also limit the degree of misalignment to avoid excessive misalignment of the stepping beam and cause disruption of the production rhythm. Furthermore, the first elastic body also has the function of resetting the stepping beam.

[0015] In some examples of the present invention, the first elastic body includes a plurality of first cylindrical springs, which are annular as a whole and distributed along the circumference of the connecting section, and the two ends of each first cylindrical spring are respectively connected to the female section and the male section; The purpose of such arrangement is that although the aforementioned connecting joint can produce misalignment in almost any direction, the walking beam can also rotate relative to the Y-direction sleeve, and the circumferentially distributed first cylindrical spring can limit the rotation to prevent the walking beam from twisting arbitrarily.

[0016] In some examples of the present invention, the first elastomer also includes a plurality of second cylindrical springs, which are generally annular and distributed along the circumference of the connecting section and are placed on the inner side of the plurality of first cylindrical springs. The two ends of each second cylindrical spring are respectively connected to the female section and the male section. The extension direction of each first cylindrical spring is inclined relative to the axial direction of the connecting section, and the extension direction of each second cylindrical spring is inclined relative to the axial direction of the connecting section, and the inclination direction is opposite to the inclination direction of the first cylindrical spring.

[0017] The purpose of such arrangement is: setting two groups of cylindrical springs distributed in a ring shape can strengthen the effect of the elastic body, produce a more stable tightening operation on the stepping beam, and prevent the stepping beam from shaking under normal operation. At the same time, the cylindrical spring arranged axially inclined relative to the connecting joint can further prevent the stepping beam from twisting relative to the Y-axis sleeve. The first cylindrical spring and the second cylindrical spring arranged obliquely in opposite directions can limit the twisting of the stepping beam in both the clockwise and counterclockwise directions, further increase the stability of the connecting joint, and prevent the stepping beam from being dislocated or twisted under normal operation as much as possible.

[0018] In some examples of the present invention, a space for accommodating a second elastic body is formed between the end of the spherical body and the spherical groove, so that both ends of the second elastic body abut between the spherical body and the spherical groove respectively; The purpose of such setting is that: the space reserves a position for the axial movement of the stepping beam, and is also used to adapt to unexpected interference situations. The second elastic body is used to resist the movement of the stepping beam. When the stepping beam moves under the interference, the rebound effect of the second elastic body is used to reset the stepping beam.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a top view of a walking beam transport device for plate production or forging process production in an embodiment of the present invention; Figure 2 It is a side view of a walking beam transport device for plate production or forging process production in an embodiment of the present invention; Figure 3 In the embodiment of the present invention Figure 1 Sectional view at AA; Figure 4 In the embodiment of the present invention Figure 1 Cross-sectional view at BB; Figure 5 is a cross-sectional view at CC in an embodiment of the present invention; Figure 6 It is a front view of the flexible mechanism without the accordion cover in the embodiment of the present invention; Figure 7 It is a front view of the flexible mechanism without the first cylindrical spring in the embodiment of the present invention; Figure 8 It is a front view of the flexible mechanism without the first cylindrical spring and the second cylindrical spring in the embodiment of the present invention; Fig. 9 In the embodiment of the present invention, Figure 8 sectional view of .

[0022] Description of reference numerals: Walking beam 1; X-axis driving mechanism 2, X-axis track 21, X-axis displacement plate 22, box 221, X-axis ball screw pair 23, X-axis servo motor 24, X-axis slider 25; Y-axis driving mechanism 3, Y-axis rail 31, Y-axis displacement plate 32, Y-axis ball screw pair 33, Y-axis servo motor 34, Y-axis sleeve 35, plate body 36, Y-axis slider 37, cover plate 38; Z-direction driving mechanism 4, Z-direction rail 41, Z-direction displacement plate 42, Z-direction ball screw pair 43, Z-direction servo motor 44, Z-direction slider 45, cylinder 46; Frame 5; Driving mechanism housing 6; Flexible mechanism 7; Bellows 71; Female section 72, first connecting plate 721, first column section 722, spherical body 723; Male section 73, second connecting plate 731, second column section 732, block 733, spherical groove 734, limiting flange 735; A first elastic body 74, a first cylindrical spring 741, a first cylindrical spring 742; Oblique hole 75; The second elastic body 76 . DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0027] Reference below Figure 1 to Figure 9 The present invention is described in detail with reference to a walking beam transport device for producing a polar plate or forging process.

[0028] For details, please see the attached Figure 1 , which is a top view of a walking beam transport device for plate production or forging process production, the walking beam transport device comprises parallel walking beams 1 and a driving mechanism located at the end of each walking beam 1, each driving mechanism comprises an X-direction driving mechanism 2, a Y-direction driving mechanism 3 and a Z-direction driving mechanism 4, the X-direction driving mechanism 2, the Y-direction driving mechanism 3 and the Z-direction driving mechanism 4 cooperate to drive the corresponding walking beam 1 to produce a three-dimensional reciprocating motion; Specifically, the present walking beam transport device has two walking beams 1, which are arranged in parallel with each other, and each walking beam 1 corresponds to two driving mechanisms located at its ends. A clamp (not shown in the figure) is arranged in the middle of the two walking beams 1, and the clamp is used to grab the workpiece. When the X-axis driving mechanism 2 controls the two walking beams 1 to move toward each other, the blank can be clamped by the clamp, and when the two walking beams 1 are controlled to move back and forth, the blank can be put down. The Y-axis driving mechanism 3 controls the two walking beams 1 to perform synchronous forward and backward displacement movement to complete the operation of transferring the blank, operating and resetting. The Z-axis driving mechanism 4 controls the two walking beams 1 to perform synchronous up and down displacement movement, which is also used to complete the operation of transferring the blank, operating and resetting.

[0029] Please see attached Figure 2 , which is a side view of a walking beam transport device for plate production or forging process production. The transport device also includes a frame 5 fixedly arranged relative to the walking beam 1. There are two frames 5, which are arranged at both ends of the walking beam 1 to support the walking beam 1 and the driving mechanism. Specifically, the driving mechanism is fixed on the frame 5, and the end of the frame 5 is connected to the output end of the driving mechanism.

[0030] Please continue to see the attached Figure 2 The walking beam transport device also includes a driving mechanism housing 6, which is fixedly connected to the frame 5, and the X-axis driving mechanism 2 and the Z-axis driving mechanism 4 are both placed in the driving mechanism housing 6.

[0031] Please see attached Figure 3 ,for Figure 1 In the cross-sectional view at AA, the Z-axis driving mechanism 4 includes a Z-axis rail 41 fixedly connected to the frame 5 and a Z-axis displacement plate 42 slidably connected to the Z-axis rail 41 . The Z-axis displacement plate 42 is driven by a Z-axis ball screw pair 43 and a Z-axis servo motor 44 .

[0032] Please continue to see the attached Figure 3 The Z-direction servo motor 44 is fixedly installed in the driving mechanism housing 6, and its output end is connected to the screw of the Z-direction ball screw pair 43, and the nut of the Z-direction ball screw pair 43 is fixedly connected to the Z-direction displacement plate 42, that is, the Z-direction displacement plate 42 is directly driven by the Z-direction servo motor 44 through the transmission action of the Z-direction ball screw pair 43.

[0033] Please continue to see the attached Figure 3 The connection method between the Z-axis rail 41 and the Z-axis displacement plate 42 is specifically as follows: Z-axis sliders 45 are fixedly provided on the Z-axis displacement plate 42 on both sides of the Z-axis ball screw pair 43, and the two Z-axis sliders 45 are slidably connected to the two Z-axis rails 41 to assist the displacement of the Z-axis displacement plate 42.

[0034] Please continue to see the attached Figure 3 Two cylinders 46 are also fixedly arranged in the driving mechanism housing 6. The two cylinders 46 are respectively located on both sides of the Z-axis ball screw pair 43. The output end of the cylinder 46 is fixedly connected to the Z-axis displacement plate 42. The function of the cylinder 46 is to guide the Z-axis displacement plate 42 to prevent it from being skewed.

[0035] Please see attached Figure 4 ,for Figure 1 In the cross-sectional view at BB, the X-axis driving mechanism 2 includes an X-axis rail 21 fixedly connected to the Z-axis displacement plate 42, and an X-axis displacement plate 22 slidably connected to the X-axis rail 21. The X-axis displacement plate 22 is driven by an X-axis ball screw pair 23 and an X-axis servo motor 24.

[0036] Please continue to see the attached Figure 4 The X-direction servo motor 24 is fixedly installed in the driving mechanism housing 6, and its output end is connected to the screw of the X-direction ball screw pair 23, and the nut of the X-direction ball screw pair 23 is fixedly connected to the X-direction displacement plate 22, that is, the X-direction displacement plate 22 is directly driven by the X-direction servo motor 24 through the transmission action of the X-direction ball screw pair 23.

[0037] Please continue to see the attached Figure 4The connection method between the X-axis rail 21 and the X-axis displacement plate 22 is specifically as follows: the X-axis rail 21 is fixedly connected to the Z-axis displacement plate 42, and X-axis sliders 25 (shown by dotted lines) are fixedly provided on the X-axis displacement plate 22 on both sides of the X-axis ball screw pair 23. The two X-axis sliders 25 are slidably connected to the two X-axis rails 21 to assist the displacement of the X-axis displacement plate 22.

[0038] Please continue to see the attached Figure 4 The middle part of the X-axis displacement plate 22 is a box body 221, which encloses the X-axis ball screw pair 23 in the box body 221. The nut of the X-axis ball screw pair 23 is fixedly connected to the inner edge of one end of the box body 221, and the other end of the box body 221 extends out of the driving mechanism housing 6.

[0039] Please continue to see the attached Figure 4 One end of the X-axis displacement plate 22 extending out of the drive mechanism housing 6 is connected to the Y-axis drive mechanism 3 .

[0040] Please see attached Figure 5 ,for Figure 1 In the cross-sectional view at CC, the Y-axis driving mechanism 3 includes a Y-axis rail 31 fixedly connected to the X-axis displacement plate 22, a Y-axis displacement plate 32 slidably connected to the Y-axis rail 31, and a Y-axis sleeve 35 driven by a Y-axis ball screw pair 33 and a Y-axis servo motor 34, the Y-axis displacement plate 32 is connected to the Y-axis sleeve 35, and one end of the Y-axis sleeve 35 is connected to the end of the stepping beam 1.

[0041] Please continue to see the attached Figure 5 One end of the X-axis displacement plate 22 extending out of the driving mechanism housing 6 is connected to the Y-axis track 31 through a plate body 36. The Y-axis track 31 is fixed on the plate body 36. The Y-axis servo motor 34 is also fixedly connected to the plate body 36. The output end of the Y-axis servo motor 34 is connected to the screw of the Y-axis ball screw pair 33. The nut of the Y-axis ball screw pair 33 is connected to the Y-axis sleeve 35, and the Y-axis sleeve 35 is fixedly connected to the Y-axis displacement plate 32.

[0042] Please continue to see the attached Figure 5 The connection method between the Y-axis rail 31 and the Y-axis displacement plate 32 is specifically as follows: the Y-axis rail 31 is fixedly connected to the plate body 36, the Y-axis displacement plate 32 is located on the upper and lower sides of the two plate bodies 36, and the upper surface of the Y-axis displacement plate 32 is fixedly connected to the Y-axis rail 31 with a Y-axis slider 37, and the Y-axis slider 37 is slidably connected to the Y-axis rail 31.

[0043] Please continue to see the attached Figure 5 In order to further seal the Y-axis driving machine, cover plates 38 are provided on the upper and lower sides of the two plates 36 .

[0044] Please continue to see the attached Figure 1A flexible mechanism 7 is also arranged between the Y-axis sleeve 35 and the end of the walking beam 1. The outer cover of the flexible mechanism 7 is provided with an accordion cover 71. The accordion cover 71 can realize axial expansion and contraction and circumferential torsion, that is, the accordion cover 71 has folds not only in the axial direction but also in the circumferential direction. Its function is to prevent dust from entering the interior of the flexible mechanism 7.

[0045] Please continue to see the attached Figure 6 , a front view of the flexible mechanism 7 without the accordion cover 71, the flexible mechanism 7 also includes connecting sections respectively connected to the Y-axis sleeve 35 and the end of the walking beam 1, the connecting sections include a female section 72 and a male section 73 connected to each other, the connecting sections can make the walking beam 1 and the driving mechanism misaligned in almost any direction, and the slight interference between the walking beam 1 and other structures on the forging production line can be eliminated through the misalignment displacement.

[0046] Please continue to see the attached Figure 6 The female section 72 and the male section 73 are also connected via a first elastic body 74, wherein the first elastic body 74 is used to limit the misalignment of the connection section under normal operation and to reset the misaligned connection section.

[0047] For details, please refer to the attached Figure 6 The first elastic body 74 includes a plurality of first cylindrical springs 741 , which are annular in shape and distributed along the circumference of the connecting section. Both ends of each first cylindrical spring 741 are respectively connected to the female section 72 and the male section 73 .

[0048] Please continue to see the attached Figure 7 , which is a front view of the flexible mechanism 7 without the first cylindrical spring 741, the first elastic body 74 also includes a plurality of second cylindrical springs 742, which are annular as a whole and distributed along the circumference of the connecting section, and are placed on the inner side of the plurality of first cylindrical springs 741, and the two ends of each second cylindrical spring 742 are respectively connected to the female section 72 and the male section 73, and the extension direction of each first cylindrical spring 741 is inclined relative to the axial direction of the connecting section, and the extension direction of each second cylindrical spring 742 is inclined relative to the axial direction of the connecting section, and the inclination direction is opposite to the inclination direction of the first cylindrical spring 741; Here is a further explanation of the meaning of the opposite tilt direction: Figure 6 ~Attached Figure 7 The extension direction of the first cylindrical spring 741 is F, the extension direction of the second cylindrical spring 742 is F', the angle between F and the axial direction L of the connecting joint is a, and the angle between F' and the axial direction L of the connecting joint is a'. The angle a and the angle a' extend on both sides of the axis L respectively.

[0049] Please see attached Figure 8 ~Attached Fig. 9, are respectively a front view of the flexible mechanism 7 without the first cylindrical spring 741 and the second cylindrical spring 742, and the attached Figure 8 sectional view, wherein the female section 72 includes a first connection plate 721, a first column section 722 located at one side of the first connection plate 721 and connected to the first connection plate 721 through a flange, and a spherical body 723 located at the other side of the first connection plate 721 and connected to the first connection plate 721 through a flange; The male section 73 includes a second connecting disk 731, a second column section 732 located on one side of the second connecting disk 731 and connected to the second connecting disk 731 through a flange, and a block 733 located on the other side of the second connecting disk 731 and connected to the second connecting disk 731 through a flange, and a spherical groove 734 is formed on the block 733 and is recessed at one end of the spherical body 723, and the spherical body 723 is placed in the spherical groove 734.

[0050] Specifically, the accordion cover 71 is connected between the first connecting plate 721 and the second connecting plate 731, and the first columnar spring 741 and the second columnar spring 742 are connected between the first connecting plate 721 and the block 733. Specifically, the first columnar spring 741 and the second columnar spring 742 are connected through the inclined hole 75 (the cross-sectional view only shows the inclined hole connected to the first columnar spring 741), so that the first columnar spring 741 and the second columnar spring 742 are in an inclined state.

[0051] Please continue to see the attached Fig. 9 The end of the block 733 is also connected to a limiting flange 735 , which is annular and consists of two petals and is fixedly connected to the block 733 to limit the spherical body 723 and prevent the spherical body 723 from escaping from the spherical groove 734 .

[0052] Please continue to see the attached Fig. 9 A space for accommodating the second elastic body 76 is formed between the end of the spherical body 723 and the spherical groove 734 , so that the two ends of the second elastic body 76 are respectively abutted between the spherical body 723 and the spherical groove 734 .

[0053] Please continue to see the attached Fig. 9 The second elastic body 76 is a wavy spring. In other embodiments, it can also be a columnar spring, a trapezoidal spring, etc.

[0054] Other components of the walking beam transport device for plate production or forging process production according to the embodiment of the present invention, such as the servo motor and the like, and operations are well known to those of ordinary skill in the art and will not be described in detail here.

[0055] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0056] Although the 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 claims and their equivalents.

Claims

1. A walking beam transport device for plate production or forging process production, characterized in that: It includes parallel walking beams and a driving mechanism located at the end of each walking beam, each of the driving mechanisms includes an X-direction driving mechanism, a Y-direction driving mechanism and a Z-direction driving mechanism, and the X-direction driving mechanism, the Y-direction driving mechanism and the Z-direction driving mechanism cooperate to drive the corresponding walking beam to generate a reciprocating motion in three-dimensional directions; The handling device also includes a frame body fixedly arranged relative to the walking beam, the Z-direction driving mechanism includes a Z-direction track fixedly connected to the frame body and a Z-direction displacement plate slidably connected to the Z-direction track, and the Z-direction displacement plate is driven by a Z-direction ball screw pair and a Z-direction servo motor; The X-direction driving mechanism comprises an X-direction track fixedly connected to the Z-direction displacement plate, and an X-direction displacement plate slidably connected to the X-direction track, and the X-direction displacement plate is driven by an X-direction ball screw pair and an X-direction servo motor; The Y-axis driving mechanism includes a Y-axis track fixedly connected to the X-axis displacement plate, a Y-axis displacement plate slidably connected to the Y-axis track, and a Y-axis sleeve driven by a Y-axis ball screw pair and a Y-axis servo motor, the Y-axis displacement plate is connected to the Y-axis sleeve, and one end of the Y-axis sleeve is connected to the end of the stepping beam.

2. The walking beam transport device for plate production or forging process production according to claim 1, characterized in that: It also includes a driving mechanism housing, which is fixedly connected to the frame, and the X-direction driving mechanism and the Z-direction driving mechanism are both placed in the driving mechanism housing.

3. The walking beam transport device for plate production or forging process production according to claim 2, characterized in that: The Z-direction servo motor is fixedly installed in the driving mechanism housing, and its output end is connected to the screw of the Z-direction ball screw pair, and the nut of the Z-direction ball screw pair is fixedly connected to the Z-direction displacement plate.

4. The walking beam transport device for plate production or forging process production according to claim 3, characterized in that: A cylinder is also fixedly arranged in the driving mechanism housing, and an output end of the cylinder is fixedly connected to the Z-direction displacement plate.

5. The walking beam transport device for plate production or forging process production according to any one of claims 2 to 4, characterized in that: The X-direction servo motor is fixedly installed in the driving mechanism housing, and its output end is connected to the screw of the X-direction ball screw pair, and the nut of the X-direction ball screw pair is fixedly connected to the X-direction displacement plate.

6. The walking beam transport device for plate production or forging process production according to claim 5, characterized in that: The X-axis displacement plate extends out of the driving mechanism housing and is connected to the Y-axis track through a plate body. The Y-axis servo motor is fixedly connected to the plate body, and its output end is connected to the screw of the Y-axis ball screw pair. The nut of the Y-axis ball screw pair is connected to the Y-axis sleeve, and the Y-axis sleeve is fixedly connected to the Y-axis displacement plate.

7. The walking beam transport device for plate production or forging process production according to any one of claims 1 to 4, characterized in that: A flexible mechanism is also provided between the Y-axis sleeve and the end of the stepping beam, and the flexible mechanism includes a connecting section which is respectively connected to the Y-axis sleeve and the end of the stepping beam, and the connecting section includes a female section having a spherical body and a male section having a spherical groove, so that part of the spherical body can be accommodated in the spherical groove and rotated in any direction, and the female section and the male section are also connected by a first elastic body.

8. The walking beam transport device for plate production or forging process production according to claim 7, characterized in that: The first elastic body includes a plurality of first cylindrical springs, which are distributed along the circumference of the connecting section in an annular shape as a whole, and the two ends of each first cylindrical spring are respectively connected to the female section and the male section.

9. The walking beam transport device for plate production or forging process production according to claim 8, characterized in that: The first elastic body also includes a plurality of second cylindrical springs, which are distributed in a circular shape along the circumference of the connecting section and are placed on the inner side of the plurality of first cylindrical springs. The two ends of each second cylindrical spring are respectively connected to the female section and the male section. The extension direction of each first cylindrical spring is inclined relative to the axial direction of the connecting section, and the extension direction of each second cylindrical spring is inclined relative to the axial direction of the connecting section, and the inclination direction is opposite to the inclination direction of the first cylindrical spring.

10. The walking beam transport device for plate production or forging process production according to claim 7, characterized in that: A space for accommodating a second elastic body is formed between the end of the spherical body and the spherical groove, so that two ends of the second elastic body are respectively abutted between the spherical body and the spherical groove.

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