Walking beam handling device for plate production or forging process

Abstract

The present invention relates to the technical field related to forging equipment, and discloses a walking beam transport device for use in electrode plate production or forging process production. The device comprises parallel walking beams and a drive mechanism located at the end of each walking beam, wherein each drive mechanism comprises an X-axis drive mechanism, a Y-axis drive mechanism, and a Z-axis drive mechanism. The X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis drive mechanism cooperate to drive the corresponding walking beam to generate reciprocating motion in three dimensions. The walking beam transport device disclosed by the present invention has a drive mechanism, wherein the Z-axis drive mechanism is directly connected to the X-axis drive mechanism, and the X-axis drive mechanism is directly connected to the Y-axis drive mechanism. There is no transmission link between the three, resulting in a simple structure and high transmission efficiency. In addition, the transport device has a flexible structure, which can offset some interference and ensure smooth operation of the equipment.

Description

Technical Field

[0001] The present 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 an active material and a supporting and conductive "current collector." The plate production process primarily includes material preparation, forming and segmentation, nickel plating, and fine processing. The plate is formed using stamping equipment.

[0003] Forging is a processing method that uses forging machinery to apply pressure to metal billets to cause them to plastically deform, 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 parameters such as forging ratio, temperature, and speed to cause it to plastically deform; 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 piece of equipment for automated production and forging of electrode plates and for handling billets. It is typically driven by a servo motor or hydraulic system. During operation, the servo motor or hydraulic system drives the beams on both sides, enabling the clamps mounted on the beams to clamp the billet, lifting and moving it. The servo motor or hydraulic system then drives the billet down and releases the clamps, continuing the cycle.

[0005] Traditional forging production lines mostly consist of multiple separate presses and multiple people working alone, resulting in low production efficiency and large equipment footprint.

[0006] 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 simultaneously clamp products at each workstation, realize automatic handling of products in the mold, reduce human participation and operation intensity, and increase production efficiency exponentially.

[0007] However, this solution has new drawbacks:

[0008] First, a transmission link is provided between the drive modules of the transport device, which makes the structure more complicated and causes a large loss of kinetic energy;

[0009] Secondly, the transport device only has a drive module for transferring the blank on one side of the two beams, while the other side is hinged, resulting in low precision in transferring the blank and slow production cycle.

[0010] Third, during 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

[0011] 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 use in the production of electrode plates or forging processes.

[0012] The walking beam transport device for plate production or forging process according to the present invention includes parallel walking beams and drive mechanisms located at the ends of each walking beam, each drive mechanism including an X-direction drive mechanism, a Y-direction drive mechanism, and a Z-direction drive mechanism. The X-direction drive mechanism, the Y-direction drive mechanism, and the Z-direction drive mechanism cooperate to drive the corresponding walking beam to generate three-dimensional reciprocating motion.

[0013] Specifically, the walking beam transport device generally has two walking beams, which are arranged in parallel with each other, and a clamping claw is provided 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 clamping claw can be used to clamp the blank, 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 upward and downward displacement movement of the two walking beams to complete the operation of transferring the blank, working and resetting.

[0014] Unlike conventional walking beam transport devices, this transport device further comprises a frame fixedly mounted relative to the walking beam, and a Z-axis drive mechanism comprising a Z-axis track fixedly connected to the frame and a Z-axis displacement plate slidably connected to the Z-axis track. The Z-axis displacement plate is driven by a Z-axis ball screw pair and a Z-axis servo motor.

[0015] The X-axis driving mechanism includes 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, and the X-axis displacement plate is driven by an X-axis ball screw pair and an X-axis servo motor;

[0016] 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;

[0017] In the drive mechanism configured in this way, the Z-direction drive mechanism is directly connected to the X-direction drive mechanism, and the X-direction drive mechanism is directly connected to the Y-direction drive mechanism. There is no transmission link between the three, resulting in a simple structure and high transmission efficiency.

[0018] In addition, each drive mechanism includes an X-axis drive mechanism, a Y-axis drive mechanism and a Z-axis drive mechanism. The two stepping beams correspond to twelve drive mechanisms, so that the twelve servo motors are directly driven synchronously, ensuring the synchronization of the handling action, improving the operation accuracy, and facilitating the independent adjustment of each axis.

[0019] In some examples of the present invention, the transport 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 placed in the drive mechanism housing;

[0020] The purpose of such a configuration is to enclose the X-axis drive mechanism and the Z-axis drive mechanism in the housing of the drive mechanism to prevent the mechanisms from being exposed to the outside and entering dust, while the housing serves as a supporting component for each structure.

[0021] In some examples of the present invention, 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, that is, the Z-direction displacement plate is directly driven by the Z-direction servo motor through the transmission action of the Z-direction ball screw pair.

[0022] In some examples of the present invention, a cylinder is fixedly provided in the driving mechanism housing, and the output end of the cylinder is fixedly connected to the Z-direction displacement plate, wherein the function of the cylinder is to guide the Z-direction displacement plate to prevent it from tilting.

[0023] 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.

[0024] In some examples of the present invention, the X-axis displacement plate extends out of the drive mechanism housing and is connected to the Y-axis track via 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.

[0025] The purpose of such arrangement is that the plate can wrap the Y-direction drive mechanism and seal it, while the Y-direction sleeve is directly driven by the Y-direction servo motor through the transmission action of the Y-direction ball screw pair.

[0026] 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 includes a connecting section respectively connected to the Y-direction sleeve and the end of the walking beam. The connecting section includes a female section having a spherical body and a male section having a spherical groove, so that a portion of the spherical body can be accommodated in the spherical groove and rotated in any direction. The female section and the male section are further connected by a first elastic body.

[0027] The purpose of this arrangement is that when the precision of the driving mechanism decreases, causing the production rhythm of the walking beam to fall 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 walking beam to operate in a manner that can accommodate this interference, or in other words, resolve this interference by slightly misaligning the walking beam, thereby avoiding wear and even damage to the equipment caused by interference.

[0028] During this process, the connecting section can cause misalignment in almost any direction between the walking beam and the driving mechanism, and the first elastic body can limit the misalignment, so that the walking beam can remain coaxial with the Y-axis sleeve under normal circumstances and perform normal operation. At the same time, the first elastic body can also limit the degree of misalignment to avoid excessive misalignment of the walking beam and cause disruption to the production rhythm. Furthermore, the first elastic body also has the function of resetting the walking beam.

[0029] In some examples of the present invention, the first elastic body includes a plurality of first cylindrical springs, which are annular in shape and distributed along the circumference of the connecting section. Both ends of each first cylindrical spring are connected to the female section and the male section respectively.

[0030] The purpose of such a setting is that although the aforementioned connecting joint can produce dislocation in almost any direction, the walking beam can also rotate relative to the Y-direction sleeve. The circumferentially distributed first cylindrical spring can limit the rotation to prevent the walking beam from twisting arbitrarily.

[0031] In some examples of the present invention, the first elastomer 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.

[0032] The purpose of such a setting 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 walking beam, and prevent the walking beam from shaking under normal operation. At the same time, the cylindrical springs arranged at an axial tilt relative to the connecting joint can further prevent the walking beam from twisting relative to the Y-direction sleeve. The first cylindrical spring and the second cylindrical spring arranged at an angle in opposite directions can limit the torsion of the walking beam in both the clockwise and counterclockwise directions, further increase the stability of the connecting joint, and prevent the walking beam from being dislocated or twisted under normal operation as much as possible.

[0033] 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;

[0034] The purpose of this setting is that the space reserves a position for the axial movement of the walking beam, and is also used to adapt to unexpected interference situations. The second elastic body is used to resist the movement of the walking beam. When the walking beam moves under the action of interference, the rebound effect of the second elastic body is used to reset the walking beam.

[0035] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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.

[0037] Figure 1 A top view of a walking beam transport device for plate production or forging process production according to an embodiment of the present invention;

[0038] Figure 2 A side view of a walking beam transport device for plate production or forging process production according to an embodiment of the present invention;

[0039] Figure 3 In the embodiment of the present invention Figure 1 Cross-sectional view at AA;

[0040] Figure 4 In the embodiment of the present invention Figure 1 Cross-sectional view at BB;

[0041] Figure 5 is a cross-sectional view at CC in an embodiment of the present invention;

[0042] Figure 6 It is a front view of the flexible mechanism without the accordion cover in the embodiment of the present invention;

[0043] Figure 7 It is a front view of the flexible mechanism without the first cylindrical spring in the embodiment of the present invention;

[0044] 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;

[0045] Figure 9 Attached to the embodiment of the present invention Figure 8 sectional view of .

[0046] Description of reference numerals:

[0047] Walking beam 1;

[0048] 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;

[0049] Y-axis driving mechanism 3, Y-axis track 31, Y-axis displacement plate 32, Y-axis ball screw pair 33, Y-axis servo motor 34, Y-axis sleeve 35, plate 36, Y-axis slider 37, cover plate 38;

[0050] Z-direction drive mechanism 4, Z-direction track 41, Z-direction displacement plate 42, Z-direction ball screw pair 43, Z-direction servo motor 44, Z-direction slide 45, cylinder 46;

[0051] Frame 5;

[0052] Drive mechanism housing 6;

[0053] Flexible mechanism 7;

[0054] accordion cover 71;

[0055] Female section 72, first connecting plate 721, first column section 722, spherical body 723;

[0056] Male section 73, second connecting plate 731, second column section 732, block 733, spherical groove 734, limiting flange 735;

[0057] A first elastic body 74, a first cylindrical spring 741, and a second cylindrical spring 742;

[0058] Oblique hole 75;

[0059] The second elastic body 76 . DETAILED DESCRIPTION

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0061] 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 orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply 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 limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0062] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0063] The following describes embodiments of the present invention in detail. Examples of the embodiments 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 intended only to explain the present invention and are not to be construed as limiting the present invention.

[0064] Reference below Figures 1 to 9 The present invention will now be described with reference to a walking beam transport device for producing or forging polar plates according to an embodiment of the present invention.

[0065] 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 includes parallel walking beams 1 and drive mechanisms located at the ends of each walking beam 1. Each drive mechanism includes an X-axis drive mechanism 2, a Y-axis drive mechanism 3, and a Z-axis drive mechanism 4. The X-axis drive mechanism 2, the Y-axis drive mechanism 3, and the Z-axis drive mechanism 4 cooperate to drive the corresponding walking beam 1 to generate three-dimensional reciprocating motion;

[0066] Specifically, the present walking beam transport device has two walking beams 1, which are arranged in parallel with each other. Each walking beam 1 corresponds to two driving mechanisms located at its ends. A clamping claw (not shown in the figure) is provided in the middle of the two walking beams 1. The clamping claw is used to grab the workpiece. When the X-direction driving mechanism 2 controls the two walking beams 1 to move toward each other, the blank can be clamped by the clamping claw. When the two walking beams 1 are controlled to move back and forth, the blank can be put down. The Y-direction 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, working and resetting. The Z-direction 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, working and resetting.

[0067] Please see the 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.

[0068] Please continue to see the attached Figure 2 The walking beam transport device further includes a drive mechanism housing 6 , which is fixedly connected to the frame 5 , and the X-direction drive mechanism 2 and the Z-direction drive mechanism 4 are both placed in the drive mechanism housing 6 .

[0069] Please see the attached Figure 3 ,for Figure 1 In the cross-sectional view at AA, the Z-direction driving mechanism 4 includes a Z-direction rail 41 fixedly connected to the frame 5 and a Z-direction displacement plate 42 slidably connected to the Z-direction rail 41 . The Z-direction displacement plate 42 is driven by a Z-direction ball screw pair 43 and a Z-direction servo motor 44 .

[0070] 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.

[0071] Please continue to see the attached Figure 3 The specific connection method between the Z-direction rail 41 and the Z-direction displacement plate 42 is: Z-direction sliders 45 are fixedly provided on both sides of the Z-direction ball screw pair 43 on the Z-direction displacement plate 42, and the two Z-direction sliders 45 are slidably connected to the two Z-direction rails 41 to assist the displacement of the Z-direction displacement plate 42.

[0072] Please continue to see the attached Figure 3 Two cylinders 46 are also fixedly installed in the driving mechanism housing 6. The two cylinders 46 are respectively located on both sides of the Z-direction ball screw pair 43. The output end of the cylinder 46 is fixedly connected to the Z-direction displacement plate 42. The function of the cylinder 46 is to guide the Z-direction displacement plate 42 to prevent it from tilting.

[0073] Please see the attached Figure 4 ,for Figure 1 In the cross-sectional view at BB, the X-axis drive mechanism 2 includes an X-axis track 21 fixedly connected to the Z-axis displacement plate 42, and an X-axis displacement plate 22 slidably connected to the X-axis track 21. The X-axis displacement plate 22 is driven by an X-axis ball screw pair 23 and an X-axis servo motor 24.

[0074] 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.

[0075] Please continue to see the attached Figure 4 The specific connection method between the X-axis rail 21 and the X-axis displacement plate 22 is: the X-axis rail 21 is fixedly connected to the Z-axis displacement plate 42, and the X-axis displacement plate 22 is fixedly provided with X-axis sliders 25 (shown by dotted lines) 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.

[0076] Please continue to see the attached Figure 4 The middle part of the X-direction displacement plate 22 is a box body 221, which encloses the X-direction ball screw pair 23 in the box body 221. The nut of the X-direction 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 drive mechanism housing 6.

[0077] 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 .

[0078] Please see the attached Figure 5 ,for Figure 1In the cross-sectional view at CC, the Y-axis driving mechanism 3 includes a Y-axis track 31 fixedly connected to the X-axis displacement plate 22, a Y-axis displacement plate 32 slidingly connected to the Y-axis track 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.

[0079] Please continue to see the attached Figure 5 The 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. Its output end 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.

[0080] Please continue to see the attached Figure 5 The connection method between the Y-direction rail 31 and the Y-direction displacement plate 32 is specifically as follows: the Y-direction rail 31 is fixedly connected to the plate body 36, the Y-direction displacement plate 32 is located on the upper and lower sides of the two plate bodies 36, and the upper surface of the Y-direction displacement plate 32 is fixedly connected to the Y-direction rail 31 with a Y-direction slider 37, and the Y-direction slider 37 is slidably connected to the Y-direction rail 31.

[0081] 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.

[0082] Please continue to see the attached Figure 1 A flexible mechanism 7 is also provided between the Y-direction sleeve 35 and the end of the walking beam 1. The external 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.

[0083] Please continue to see the attached Figure 6 , which is 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, and the connecting sections include a female section 72 and a male section 73 that are connected to each other. The connecting sections can enable the walking beam 1 and the driving mechanism to be 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.

[0084] Please continue to see the attached Figure 6 The female section 72 and the male section 73 are also connected by 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.

[0085] 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. The two ends of each first cylindrical spring 741 are respectively connected to the female section 72 and the male section 73 .

[0086] 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. The plurality of second cylindrical springs 742 are annular as a whole and are distributed along the circumference of the connecting section. They are placed inside the plurality of first cylindrical springs 741. The two ends of each second cylindrical spring 742 are respectively connected to the female section 72 and the male section 73. The extension direction of each first cylindrical spring 741 is inclined relative to the axial direction of the connecting section. The extension direction of each second cylindrical spring 742 is inclined relative to the axial direction of the connecting section. The inclination direction is opposite to the inclination direction of the first cylindrical spring 741.

[0087] 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 section is a, and the angle between F' and the axial direction L of the connecting section is a'. The angle a and the angle a' extend on both sides of the axis L respectively.

[0088] Please see the attached Figure 8 ~Attached Figure 9 , respectively, are the front views 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 connecting plate 721, a first column section 722 located on one side of the first connecting plate 721 and connected to the first connecting plate 721 via a flange, and a spherical body 723 located on the other side of the first connecting plate 721 and connected to the first connecting plate 721 via a flange;

[0089] The male section 73 includes a second connecting plate 731, a second column section 732 located on one side of the second connecting plate 731 and connected to the second connecting plate 731 through a flange, and a block 733 located on the other side of the second connecting plate 731 and connected to the second connecting plate 731 through a flange. A spherical groove 734 is provided on the block 733 at one end facing the spherical body 723, and the spherical body 723 is placed in the spherical groove 734.

[0090] 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.

[0091] Please continue to see the attached Figure 9 The end of the block 733 is also connected to a limiting flange 735. The limiting flange 735 is annular and consists of two petals. It is fixedly connected to the block 733 to limit the spherical body 723 and prevent the spherical body 723 from falling out of the spherical groove 734.

[0092] Please continue to see the attached Figure 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 both ends of the second elastic body 76 are respectively in contact between the spherical body 723 and the spherical groove 734 .

[0093] Please continue to see the attached Figure 9 The second elastic body 76 is a wavy spring. In other embodiments, it can also be a cylindrical spring, a trapezoidal spring, etc.

[0094] 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 skilled in the art and will not be described in detail here.

[0095] Throughout this specification, references to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" indicate 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, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0096] While 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 invention, and that the scope of the 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: The invention comprises parallel walking beams and a driving mechanism located at the end of each walking beam, wherein 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 dimensions; The transport device further includes a frame fixedly arranged relative to the walking beam, the Z-direction drive 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-direction driving mechanism includes 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 walking beam; A flexible mechanism is further provided between the Y-direction sleeve and the end of the walking beam. The flexible mechanism includes a connecting section respectively connected to the Y-direction sleeve and the end of the walking beam. The connecting section includes a female section having a spherical body and a male section having a spherical groove, so that a portion of the spherical body can be accommodated in the spherical groove and rotated in any direction. The female section and the male section are further connected by a first elastic body. The first elastic body includes a plurality of first cylindrical springs, which are annular in shape and distributed along the circumference of the connecting section. Both ends of each first cylindrical spring are connected to the female section and the male section respectively. The first elastic body also includes a plurality of second cylindrical springs, which are annular as a whole and distributed along the circumference of the connecting section. They 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. 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.

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 the 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 claim 1, 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 both ends of the second elastic body abut between the spherical body and the spherical groove respectively.

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