Multidirectional collaborative forging manipulator

Abstract

The invention relates to a multi-directional collaborative forging manipulator which comprises a clamp device and a base part, the base part is horizontally and slidably arranged on a site, and a steering platform is horizontally and rotatably arranged on the base part; the clamp frame supporting beam is arranged on the steering platform through an oil pressure driving element and is longitudinally and movably arranged on the steering platform through the oil pressure driving element, and the clamp device is arranged on the clamp frame supporting beam; an oil supply system is further arranged on the rotating platform, the clamp device is driven through oil pressure, and the oil supply system is used for supplying oil to the clamp device and the oil pressure driving element. According to the multi-mechanism cooperative high-precision operation control system, multi-mechanism cooperative high-precision operation control is achieved, the precision of workpiece positioning and posture adjustment in the forging process is remarkably improved by means of precise cooperation of the cart mechanism, the steering table, the clamp frame and other components, and the strict requirement of the complex forging technology for operation precision is met.

Description

Technical Field

[0001] This invention relates to forging equipment, specifically to a multi-directional collaborative forging manipulator. Background Technology

[0002] In the forging process, the forging manipulator is a key process equipment. By clamping forging billets of different specifications, it enables precise radial and axial feeding and spatial orientation adjustment of the forgings, thereby ensuring the positioning accuracy during the forging process.

[0003] In the field of free forging, this equipment has become an indispensable core unit. Through multi-degree-of-freedom control of the spatial posture of the forging billet, it can meet the process requirements of the entire free forging process, such as drawing, upsetting, punching, and bending. It can realize the forming and processing of forging billets of different tonnages under light to heavy load conditions, and provide key technical support for the efficient, precise and stable production of high-quality forgings.

[0004] For example, patent "CN116274813A" discloses a manipulator for forging large forgings. This manipulator has a specific support structure for the bottom of the vehicle body and a transmission structure for the machine body, which helps the equipment to carry out movement and processing operations within a small range and short distance. Patent "CN102935477B" proposes a forging manipulator with six degrees of freedom. Its clamping device has six degrees of freedom and can clamp the workpiece to be forged, and flexibly carry out forging operations in different orientations and postures, effectively expanding the range of motion. Summary of the Invention

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0006] The problem with existing technologies is that current forging manipulators have limitations in multi-directional coordinated control precision. Although some devices can achieve multi-degree-of-freedom motion, the linkage response of each motion mechanism is relatively slow, and the operational stability is poor. This is fundamentally because multiple degrees of freedom interact through multiple unrelated power sources, resulting in insufficient responsiveness during movement. Consequently, trajectory deviations occur when the forging billet undergoes complex spatial orientation adjustments, thus affecting forging accuracy. To solve this technical problem, this invention provides the following technical solution: A multi-directional collaborative forging manipulator includes a clamping device, and: The base is horizontally slidable in the field, and a steering platform is rotatably mounted on the base. A clamp support beam is mounted on the steering platform via a hydraulic drive element and is longitudinally movable on the steering platform via the hydraulic drive element; the clamp device is mounted on the clamp support beam. The rotating platform is also equipped with an oil supply system. The clamping device is driven by hydraulic pressure, and the oil supply system is used to supply oil to the clamping device and the hydraulic drive element.

[0007] As a preferred technical solution for a multi-directional collaborative forging manipulator, it also includes a traveling guide rail configured on the site. The base includes at least a vehicle body, a track wheel configured on the vehicle body, and a motor mounted on the vehicle body. The track wheel is adapted to the traveling guide rail and obtains driving force through the motor.

[0008] As a preferred technical solution for a multi-directional collaborative forging manipulator, a steering bearing is fixedly installed on the vehicle body, with its inner or outer ring fixedly connected to the steering platform. A drive gear is rotatably installed on the steering platform, which meshes with the outer or inner ring of the steering bearing and is equipped with a rotational driving force.

[0009] As a preferred technical solution for a multi-directional collaborative forging manipulator, the hydraulic drive element includes a front lifting cylinder and a rear lifting cylinder mounted on the steering platform, which respectively act on the front end and rear end of the clamp support beam.

[0010] As a preferred technical solution for a multi-directional collaborative forging manipulator, it also includes a vehicle roof fixedly installed on the steering platform, with one end of the front lifting cylinder and one end of the rear lifting cylinder both connected to the vehicle roof.

[0011] As a preferred technical solution for a multi-directional collaborative forging manipulator, a swing arm is rotatably mounted on the roof, which is connected to the front end of the clamp support beam via a lifting pull plate, and the front lifting cylinder is connected between the clamp support beam and the swing arm.

[0012] As a preferred technical solution for a multi-directional collaborative forging manipulator, the clamping device includes a clamping turntable and jaws disposed on the clamping turntable. The jaws can be configured in various ways according to work requirements, such as square or crab-shaped. The clamping turntable is mounted on a clamping frame support beam and also includes a clamping cylinder mounted on the clamping frame support beam. The telescopic end of the clamping cylinder maintains a transmission engagement with the jaws.

[0013] As a preferred technical solution for a multi-directional collaborative forging manipulator, the clamp turntable is rotated on the clamp support beam, and at least one driven gear is connected between the jaws and the clamping cylinder. The clamp support beam is equipped with a power element that drives the driven gear to rotate.

[0014] As a preferred technical solution for a multi-directional collaborative forging manipulator, the power element includes a clamp rotation drive hydraulic motor, which, along with the front lifting cylinder, the rear lifting cylinder, and the clamping cylinder, obtains oil pressure through an oil supply system.

[0015] As a preferred technical solution for a multi-directional collaborative forging manipulator, it also includes a buffer mechanism, wherein the lifting plate and the rear lifting cylinder are connected to the clamp support beam through the buffer mechanism.

[0016] The multi-directional collaborative forging manipulator provided by this invention has the following beneficial effects: 1. This invention realizes high-precision operation control through multi-mechanism collaboration. Relying on the precise cooperation of various components such as the trolley mechanism, the steering table, and the clamp, it significantly improves the accuracy of workpiece positioning and attitude adjustment during the forging process, and meets the strict requirements of complex forging processes for operational precision.

[0017] 2. This invention adopts a whole beam welding process and multiple buffer design, which effectively enhances the structural stability and impact resistance of the equipment, effectively extends the service life of the equipment, and reduces the probability of failure caused by vibration and impact. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 and Figure 2 A schematic diagram showing the distribution of several main components of a multi-directional collaborative high-precision rail-guided forging manipulator is presented. Figure 3 It shows the different types of jaws and their corresponding open and closed states; Figure 4 The structural composition of different jaw-shaped clamps and the structural composition of the clamp frame are presented; Figure 5 This is a detailed assembly diagram of the clamp rotation device in the clamp frame mechanism of this equipment; Figure 6 This is a schematic diagram of the lifting mechanism behind the clamp. Figure 7 A schematic diagram of a hydraulic cylinder limit brake; Figure 8 The internal components and installation location of the vertical spring buffer device are shown; Figure 9 and Figure 10 The structure and transmission diagram of the 360° turntable mechanism are presented; Figure 11 It is an assembly drawing of the drive unit of the trolley mechanism, which clearly shows the connection relationship between the motor, gearbox, coupling and travel gear; Figure label: 1. Clamping device; 2. Integrated hydraulic station; 3. Roof; 4. Trolley drive unit; 5. Hydraulic spring buffer device; 6. 360° steering platform mechanism; 7. Front lifting mechanism; 8. Pneumatic gimbal; 9. Oil tank; 10. Travel guide rail; 11. Rear lifting mechanism; 12. Clamping pressure sensor; 13. Steering platform drive motor; 14. Body support column; 15. Front lifting bracket; 16. Clamping turntable; 17. Cross slider; 18. Clamping arm; 19. Pull plate; 20. Square jaws; 21. Bearing seat; 22. Clamping rotation device; 23. 24. Pull rod; 25. Clamping cylinder; 26. Clamp support beam; 27. Driven gear; 28. Transmission gear shaft; 29. ​​Clamp rotation drive hydraulic motor; 30. Front lifting cylinder; 31. Lifting pull plate; 32. Front lifting cylinder base; 33. Lifting plate; 34. Tensioning power unit; 35. Cavity; 56. Tensioning clamping block; 57. Rear lifting cylinder; 58. Cylinder limit brake; 59. Rear lifting mounting plate; 50. Lifting connecting rod; 51. 57. Locating pin; 58. Spring; 59. Spring lower pressure sleeve; 60. Steering support mounting plate; 61. Steering platform; 62. Steering bearing; 63. Main frame; 64. Reducer; 65. Electro-hydraulic brake; 66. Motor; 67. Overhead axle shaft; 68. Flange coupling; 69. Angle bearing housing; 70. Travel gear; 73. Track wheel; 74. Transmission tailstock shaft; 75. Motor drive transmission gear; 76. Crab claw-shaped jaws. Detailed Implementation

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0021] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0022] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0023] Reference Figures 1 to 11 The present invention provides a multi-directional collaborative forging manipulator, comprising: The trolley mechanism consists of a trolley frame 62 and a drive unit. The trolley frame 62 is a welded frame structure, with the main beam being a single beam, and all major components are welded using a single-plate welding process. The trolley is equipped with two driving wheels and two driven wheels, mounted on the wheel axles and supported by angular bearing housings. The trolley drive unit 4 is installed at the rear platform of the trolley frame and consists of a motor 66, a gearbox, a coupling, a traveling gear, and drive track wheels 73, among other components.

[0024] Buffering Mechanism: The equipment is equipped with a vertical spring buffer device and a horizontal hydraulic spring buffer device 5 (for details, please refer to Chinese Utility Model Patent Application No. 2025227407195). These two devices can minimize the impact load on the manipulator generated by the workpiece during forging, ensure the operating accuracy of the equipment, and thus extend the service life of the equipment.

[0025] 360° steering mechanism 6: A steering bearing 61 is installed on the mounting plate of the trolley base. A hydraulic motor is selected as the driving power device. The transmission gear on its output shaft meshes with the external gear ring of the steering support 61 fixedly installed on the trolley base. With the help of gear transmission, the 360° steering function of the equipment is realized.

[0026] The clamping mechanism mainly consists of clamping device 1, rotating device, and transmission power device. These components work together to meet the equipment's needs for adjusting the workpiece posture in different forging processes.

[0027] Lifting mechanism: With the coordinated control of the extension and retraction strokes of the front and rear sets of hydraulic cylinders, it works in conjunction with the clamp lifting device, and at the same time, it relies on the precise control of the hydraulic cylinder limit brake 53 to ensure the high accuracy of the equipment lifting process.

[0028] Gimbal testing mechanism (see Chinese Utility Model Patent Application No. 2025227008462 for details): Utilizing a pneumatic gimbal 8 equipped with an infrared thermal imaging detection device, and taking advantage of the convenient rotation of the gimbal, the distribution of the temperature field of the forging is monitored in real time using infrared thermal imaging technology. Combined with data feedback from the clamping force sensor, the opening and closing angle and pressure of the clamps are dynamically adjusted to ensure stable and reliable clamping in high-temperature environments. Hydraulic system: The system uses a high-pressure oil pump as its power source, driven by a motor 66. Hydraulic oil is drawn from the oil tank 9 through a filter and pressurized before being delivered to various hydraulic components. When the motor 66 drives the oil pump, pressurized oil is delivered to the reversing valve. At this time, the system controls the various actuators by manipulating the oil circuit through the system modules. By mounting the high-pressure oil pump on the main frame, it can more flexibly supply pressure to components such as the lifting cylinder, the steering platform drive motor, the clamp rotation drive hydraulic motor, and the clamping cylinder. This integrates the power sources of multiple components that control the jaws' movement in different directions, facilitating centralized control and ensuring flexible distribution of driving force. This makes the jaw's movement process more flexible and better guarantees the accuracy of the jaws during operation.

[0029] The technical principles underlying this application are as follows: During the forward and backward movement of the trolley frame: The motor 66, installed in the drive unit at the rear platform of the trolley frame, is connected to the reducer via a coupling. The reducer's output shaft then drives the bridge shaft 67 via a flange coupling 68. The small traveling gears 72 at both ends of the bridge shaft 67 drive the large traveling gear 70 of the drive wheel, thereby driving the track wheel 73. By rotating the motor in both directions, precise control of the trolley mechanism's forward and backward movements can be achieved.

[0030] Horizontal rotation stage of the clamp: When the hydraulic motor drives the transmission gear 75 to rotate on its own, since it meshes with the outer gear ring of the slewing bearing and the outer gear ring is in a fixed state, the drive wheel will make a circular motion around the axis of the outer gear ring while rotating on its own, which will drive the entire clamp mechanism located on the rotating platform to rotate horizontally.

[0031] Clamping and releasing phases: The power for clamping and releasing the clamping device 1 comes from the extension and retraction of the piston rod of the clamping cylinder 24. The cylinder body of the clamping cylinder 24 is fixedly connected to the main shaft, and its piston rod is connected to the clamp arm 18 via the cross slider 17. When the piston rod of the clamping cylinder 24 moves towards the rodless chamber, the piston rod pulls the clamp arm 18 backward, thereby clamping the clamp arm 18; conversely, the clamp arm 18 will be in the released state.

[0032] Vertical rotation phase of the clamp: The clamp device 1 can achieve 360° continuous rotation, which is mainly achieved by a hollow shaft connected to the clamp base. A driven gear 26 is mounted on the hollow shaft, which meshes with a transmission gear shaft 27 inside the rotating gearbox, and this transmission gear shaft 27 is connected to a hydraulic motor. The hydraulic motor drives the gear transmission shaft to rotate, thereby driving the clamp device 1 to rotate.

[0033] During the free lifting and lowering stage of the clamp: The clamp is connected to the front and rear lifting cylinders 52 via a lifting device. The piston rod moves linearly within the cylinder at both the same and differential speeds, allowing the clamp to adjust its angle according to the requirements of the forging process, achieving actions such as lifting, lowering, and tilting. Furthermore, the cylinder is equipped with a cylinder limit brake 53, which can promptly control the extension and retraction of the cylinder to prevent overtravel.

[0034] During the gimbal inspection process: The gimbal's switching movement in three degrees of freedom drives the infrared thermal imaging detection device 46 to perform multi-directional detection, thereby achieving comprehensive monitoring of the workpiece forging process data. Simultaneously, combined with feedback information from the clamping force sensor, the clamping force and angle of the clamping device 1 are adjusted in real time to prevent deformation or loss of the forging due to clamping errors.

[0035] Equipment buffering stage during workpiece forging: A vertical spring buffer device is installed on the front side of the clamp, and a horizontal hydraulic spring 5750 buffer device 5 is installed on the rear side of the clamp. Because the workpiece generates an instantaneous reverse impact load on the equipment when the forging hammer strikes it, the structural characteristics of these two spring 5750 devices are used to decompose and cancel the impact load force, effectively reducing the vibration and backlash experienced by the machine body.

[0036] The control valve group adopts an integrated design, including a directional control valve, a pressure control valve, and a flow control valve, which can accurately control the flow direction, pressure, and flow rate of hydraulic oil, thereby enabling the driving and speed regulation of mechanisms such as trolley travel, clamp movement, and lifting adjustment.

[0037] For hydraulic cooling, a self-circulating air-cooling device is provided. When the oil temperature exceeds the set value, the device will automatically start and control the oil temperature within a suitable range through forced convection. This avoids problems such as reduced oil viscosity, weakened sealing performance, and decreased system efficiency caused by excessively high oil temperature, ensuring long-term stable operation of the hydraulic system.

[0038] The multi-directional collaborative high-precision rail-guided forging manipulator achieves high-precision positioning and flexible operation of the equipment in space by relying on the coordinated operation of its various components.

[0039] The trolley mechanism provides a stable foundation for the equipment's movement. Its main beam, constructed from a single beam, is welded to a single plate, ensuring structural rigidity and load-bearing capacity. The drive unit, through the coordinated operation of components such as the motor and gearbox, enables the trolley to move smoothly on the track.

[0040] The buffer mechanism effectively absorbs the impact force during the forging process with the help of vertical and horizontal buffer devices, preventing the equipment from being affected by vibration and extending its service life.

[0041] The 360° turning platform mechanism 6 uses a hydraulic motor to drive gear transmission, enabling the equipment to flexibly adjust the working direction to meet the requirements of different forging positions.

[0042] The clamping mechanism precisely adjusts the workpiece posture through the linkage of clamping, rotation and transmission power device to adapt to various forging processes such as drawing and upsetting.

[0043] The lifting mechanism uses the extension and retraction of hydraulic cylinders and the control of limit brakes to achieve smooth lifting and lowering of workpieces, ensuring the accuracy of height adjustment.

[0044] The gimbal inspection mechanism uses feedback information from infrared thermal imaging detection devices and clamping force sensors to dynamically optimize clamping strategies, ensuring stable clamping of high-temperature irregular forgings. This provides reliable assurance for the safety of the forging process and the quality of the forgings. Furthermore, by integrating infrared thermal imaging detection and clamping force sensing technologies, it achieves real-time monitoring and dynamic control of the forging process. This not only ensures the stability of clamping high-temperature irregular forgings but also allows for timely optimization of clamping strategies, thereby improving the processing quality of the forgings.

[0045] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0046] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A multi-axial synergic forging manipulator, characterized by: Includes clamping devices, and: The base is horizontally slidable in the field, and a steering platform is rotatably mounted on the base. A clamp support beam is mounted on the steering platform via a hydraulic drive element and is longitudinally movable on the steering platform via the hydraulic drive element; the clamp device is mounted on the clamp support beam. The rotating platform is also equipped with an oil supply system. The clamping device is driven by hydraulic pressure, and the oil supply system is used to supply oil to the clamping device and the hydraulic drive element.

2. The multi-directional collaborative forging manipulator according to claim 1, characterized in that: It also includes a travel rail configured on the site, the base of which includes at least a vehicle body, a track wheel configured on the vehicle body, and a motor mounted on the vehicle body. The track wheel is adapted to the travel rail and obtains driving force through the motor.

3. The multi-directional collaborative forging manipulator according to claim 2, characterized in that: A steering bearing is fixedly installed on the vehicle body, with its inner or outer ring fixedly connected to the steering platform. A drive gear is rotatably installed on the steering platform, which meshes with the outer or inner ring of the steering bearing and is equipped with a rotational driving force.

4. The multi-directional collaborative forging manipulator according to claim 1, characterized in that: The hydraulic drive element includes a front lifting cylinder and a rear lifting cylinder mounted on the steering platform, which act on the front end and rear end of the clamp support beam, respectively.

5. The multi-directional collaborative forging manipulator according to claim 4, characterized in that: It also includes a vehicle roof that is fixedly installed on the steering platform, with one end of the front lifting cylinder and one end of the rear lifting cylinder both connected to the vehicle roof.

6. The multi-directional collaborative forging manipulator according to claim 5, characterized in that: A swing arm is rotatably mounted on the roof of the vehicle, which is connected to the front end of the clamp support beam via a lifting pull plate. The front lifting cylinder is connected between the clamp support beam and the swing arm.

7. The multi-directional collaborative forging manipulator according to claim 4, characterized in that: The clamping device includes a clamping turntable and jaws disposed on the clamping turntable. The clamping turntable is mounted on a clamping frame support beam. The device also includes a clamping cylinder mounted on the clamping frame support beam. The telescopic end of the clamping cylinder maintains a transmission engagement with the jaws.

8. The multi-directional collaborative forging manipulator according to claim 7, characterized in that: The clamp turntable is rotatably mounted on the clamp support beam. At least one driven gear is connected between the jaws and the clamping cylinder. The clamp support beam is equipped with a power element that drives the driven gear to rotate.

9. The multi-directional collaborative forging manipulator according to claim 8, characterized in that: The power element includes a clamp rotation drive hydraulic motor, which, along with the front lifting cylinder, the rear lifting cylinder, and the clamping cylinder, obtains oil pressure through an oil supply system.

10. The multi-directional collaborative forging manipulator according to claim 6, characterized in that: It also includes a buffer mechanism, and the lifting plate and the rear lifting cylinder are both connected to the clamp support beam through the buffer mechanism.

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