Workpiece clamping device for a roll forging machine

Abstract

The workpiece clamping device of the roll forging machine comprises a rack, a mechanical hand main body and a linear moving mechanism, characterized in that a mounting seat is fixedly arranged on the rack, a bearing seat is arranged above the mounting seat, the linear moving mechanism is installed on the bearing seat, and the mechanical hand main body is connected with the linear moving mechanism; a height adjusting unit is arranged between the mounting seat and the bearing seat to adjust the position of the mechanical hand main body in the vertical direction; a speed compensation oil cylinder and a mechanical hand clamping jaw are arranged on the mechanical hand main body; the speed compensation oil cylinder has an oil inlet cavity, the speed compensation oil cylinder is filled with oil to a preset back pressure through the oil inlet cavity before rolling starts, and oil supply is stopped after rolling starts; and a pressure response type pressure relief element is arranged on an oil inlet oil way of the oil inlet cavity. The advantages are high compensation precision, effective response to the problem of roll speed fluctuation in the rolling process, and convenient adjustment of the vertical height of the mechanical hand to adapt to the change of the mold center distance.

Description

Technical Field

[0001] This invention relates to the field of metal forging technology, and in particular to a workpiece clamping device for a roll forging machine. Background Technology

[0002] In metal forging production, roll forging mills are widely used to roll bars or billets to change their shape, thereby improving the utilization rate of blanks in subsequent forging processes. To achieve automatic feeding, rotational positioning, and multi-pass forming of workpieces during roll forging, a dedicated clamping device is usually required to perform operations such as clamping, flipping, and reciprocating transfer of the workpiece.

[0003] Traditional roll forging mills typically employ a workpiece clamping device consisting of a machine frame, a robotic arm, and a linear motion mechanism. The robotic arm, mounted on the machine frame, clamps the workpiece. The linear motion mechanism connects the machine frame and the robotic arm, driving the robotic arm to reciprocate in planes parallel and perpendicular to the rolling direction, thereby transferring the workpiece between rolling stations.

[0004] During aluminum alloy roll forging, the die is prone to material sticking and wear, requiring grinding or additive manufacturing. This causes a change in the center distance between the upper and lower rolls. In existing clamping devices, the linear motion mechanism is usually directly fixed to the equipment frame, and its vertical position relative to the frame is fixed. Therefore, when the die center distance changes, the height of the robot cannot be adjusted accordingly. This results in the centerline of the workpiece held by the robot not aligning with the changed die centerline, leading to substandard product dimensions after rolling and affecting the product yield.

[0005] Furthermore, in actual production, due to the characteristics of the roll forging process, there is inevitably a dynamic speed difference between the rotational speed of the rolls and the linear motion speed of the robot arm. To solve this speed difference problem, existing roll forging machines typically have a compensation mechanism for their robots. For example, Chinese utility model patent ZL201620743152.5 discloses a fully automatic roll forging machine compensation cylinder buffer mechanism, which uses a set of hollow plunger cylinders. Before rolling, the cylinders are energized to accurately position the material. During rolling, the cylinders are depressurized, and the speed difference between the billet and the swing arm mechanism is compensated by the force generated by the billet along the robot arm axis. This solution relies on the workpiece thrust as the compensation power source. However, the workpiece undergoes drastic temperature and shape changes during rolling, resulting in fluctuating and uncontrollable reaction forces. This leads to the compensation action failing to accurately match the speed difference, resulting in poor rolling stability. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a workpiece clamping device for a roll forging machine. The device has high compensation accuracy, can effectively cope with the fluctuation of roll speed during rolling, and can easily adjust the vertical height of the robot to adapt to the change of die center distance.

[0007] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: A workpiece clamping device for a roll forging machine includes a frame, a robot arm body, and a linear motion mechanism; A mounting base is fixedly installed on the frame, and a bearing seat is provided above the mounting base. The linear motion mechanism is installed on the bearing seat, and the robot body is connected to the linear motion mechanism. The linear motion mechanism is used to drive the robot body to reciprocate in planes parallel to and perpendicular to the rolling direction. A height adjustment unit is provided between the mounting base and the bearing base for supporting the bearing base in the vertical direction. The height adjustment unit has an adjustable support height to adjust the position of the robot body in the vertical direction to adapt to the change of the mold center distance. The main body of the robotic arm is equipped with a speed compensation cylinder and a robotic arm gripper for clamping the workpiece. The speed compensation cylinder is used to drive the robotic arm gripper to reciprocate along the rolling direction and to compensate for the speed difference between the roll and the robotic arm gripper during the rolling process. The speed compensation cylinder has an oil inlet chamber. Before the rolling starts, the speed compensation cylinder is filled with oil through the oil inlet chamber to a preset back pressure. After the rolling starts, the oil supply is stopped. The oil inlet circuit of the oil inlet chamber is equipped with a pressure-responsive pressure relief element. The pressure-responsive pressure relief element has a preset pressure threshold. When the preset back pressure is lower than the pressure threshold, the pressure-responsive pressure relief element opens to relieve pressure when the pressure exceeds the pressure threshold and automatically resets and closes when the pressure drops to the preset back pressure.

[0008] The height adjustment unit includes a wedge drive assembly, which includes two first wedges and one second wedge. Two first wedges are disposed on the mounting base and can slide relative to each other in a preset direction. A second wedge is disposed between the two first wedges, and the top of the second wedge supports the bottom of the bearing base. The top of each of the two first wedges is provided with a first inclined end face, and the two first inclined end faces are arranged in a mirror symmetrical manner. The bottom of the second wedge is provided with a second inclined end face that mates with the two first inclined end faces. The two second inclined end faces are arranged in a V-shape. The two first wedges form an inclined surface engagement with the corresponding second inclined end face of the bottom end face of the second wedge through their respective first inclined end faces. Each of the first wedges is fixedly provided with a nut, and the two nuts are respectively a left-hand nut and a right-hand nut; the two nuts are respectively threaded into the left-hand thread section and the right-hand thread section of a double-ended screw rotatably provided on the mounting base; when the double-ended screw rotates, the left-hand nut and the right-hand nut respectively drive the corresponding first wedges to slide towards each other or slide away from each other along the preset direction, so as to drive the second wedges to move in the vertical direction, thereby causing the bearing base to rise or fall in the vertical direction.

[0009] The wedge drive assembly is provided in two sets, which are respectively located at both ends of the mounting base and face each other; each of the two double-ended screws is provided with a synchronous sprocket, which is connected by a synchronous chain; one end of one of the double-ended screws is coaxially connected to a drive shaft, which is used to receive external driving force to drive the two sets of wedge drive assemblies to move synchronously.

[0010] A lifting mechanism is provided between the mounting base and the support base. Before adjusting the support height of the height adjustment unit, the support base is lifted upward to unload the height adjustment unit. After the support height of the height adjustment unit is adjusted, the lifting mechanism releases the lifting action, so that the height adjustment unit carries the support base and maintains the adjusted support height.

[0011] The lifting mechanism is a lifting cylinder, the cylinder body of which is fixedly mounted on the mounting base. The piston rod of the lifting cylinder extends vertically upward, and a locking ring is provided at the end of the piston rod. A locking block is fixedly provided at the bottom of the bearing seat. The locking block has a locking cavity with an opening on one side. The locking ring is disposed in the locking cavity and can move up and down within the locking cavity. When the piston rod extends upward, it moves the locking ring upward within the locking cavity to release the pressure on the bottom end face of the locking cavity. Then, the top of the piston rod pushes upward against the top end face of the locking cavity or the bottom end face of the bearing seat, lifting the bearing seat upward and unloading the height adjustment unit. After the support height of the height adjustment unit is adjusted, the piston rod retracts downward, causing the locking ring to press downward against the bottom end face of the locking cavity, locking the bearing seat downward.

[0012] The direction in which the main body of the robotic arm moves towards the roller while holding the workpiece is defined as forward, and the direction in which it moves away from the roller is defined as backward. The main body of the robotic arm includes a guide sleeve that extends through the front and rear directions and a sliding sleeve that is slidably disposed within the guide sleeve, and the robotic arm gripper is disposed at the front end of the sliding sleeve. The speed compensation cylinder includes a compensation cylinder body, and a push rod is movably disposed in the compensation cylinder body in the front-rear direction. The front end of the push rod is fixedly connected to the rear end of the sliding sleeve, and the rear end of the push rod extends rearward out of the compensation cylinder body and is fixedly connected to the cylinder body of a clamping cylinder. The clamping cylinder is used to drive the gripper of the robot arm to clamp or release.

[0013] The push rod includes a small-diameter section and a large-diameter section coaxially connected from back to front. The small-diameter section forms an annular oil inlet chamber with the inner wall of the compensation cylinder. A stepped surface is formed between the large-diameter section and the small-diameter section. The stepped surface constitutes a pushing surface for driving the push rod to move closer to the roll when oil is introduced into the oil inlet chamber.

[0014] A buffer mechanism is provided between the compensation cylinder and the clamp cylinder to prevent direct rigid collision between the two. The compensation cylinder is provided with an annular partition wall, which divides the inner cavity of the compensation cylinder into a front chamber and a rear chamber; the front part of the small-diameter section of the push rod passes through the annular partition wall and is located in the front chamber, and the oil inlet chamber is formed between the front part of the small-diameter section and the inner wall of the front chamber. The buffer mechanism includes a buffer piston sleeved on the small-diameter section of the push rod. The buffer piston includes a front piston section, a middle piston section, and a rear piston section coaxially arranged from front to back. The front piston section is disposed in the rear chamber. A buffer chamber is formed between the front end face of the front piston section, the rear end face of the annular partition wall, and the inner wall of the rear chamber. The buffer chamber is kept in an oil-filled state during the rolling process. A rear cylinder head is provided at the rear end of the compensation cylinder body. The outer diameter of the middle piston section matches the inner diameter of the center hole of the rear cylinder head. The rear piston section extends out of the rear cylinder head. The outer diameter of the middle piston section is smaller than the outer diameters of the front piston section and the rear piston section.

[0015] The clamping cylinder has a clamping piston that can be moved back and forth inside the cylinder. A drive rod is coaxially mounted on the clamping piston. The center of the push rod has a cavity that runs through the front and back. The drive rod can move back and forth through the cavity, and the front end of the drive rod extends out of the cavity. The front end of the drive rod is connected to a drive head. The robotic gripper includes multiple gripper bodies. Each gripper body is connected to the drive head via a corresponding connecting rod. The rear end of the connecting rod is rotatably connected to the drive head, and the front end of the connecting rod is rotatably connected to the rear end of the corresponding gripper body. When the drive rod moves backward, the drive head pulls the connecting rod backward, causing the multiple gripper bodies to open relative to each other; when the drive rod moves forward, the drive head pushes the connecting rod forward, causing the multiple gripper bodies to come closer together to achieve clamping.

[0016] The clamping piston divides the inner cavity of the clamping cylinder into a front chamber and a rear chamber, and the front chamber and the rear chamber are respectively connected by oil ports; the rear chamber is provided with an elastic energy storage type holding mechanism, which is a spring. The spring is sleeved on the drive rod, and the front end of the spring abuts against the rear end of the clamping piston, and the rear end of the spring abuts against the inner side of the rear end cover of the clamping cylinder.

[0017] Compared with the prior art, the advantages of this invention are: through the coordinated operation of the height adjustment unit and the speed compensation cylinder, it simultaneously solves the problems of product size deviation caused by changes in the die center distance during aluminum alloy roll forging and the problem of additional pulling force on the billet by the robot arm caused by the difference in rolling speed, as detailed below: (1) Achieving precise adjustment of the robot's height to effectively adapt to changes in the die center distance: The height adjustment unit is located between the mounting base and the bearing base, and can support the bearing base in the vertical direction, and its support height is adjustable. When the die is ground or additively processed due to material adhesion or wear, and the die center distance of the upper and lower rolls changes, only the support height of the height adjustment unit needs to be adjusted to realign the center line of the workpiece held by the robot with the changed die center line. This adjustment function ensures that the dimensions of the rolled product meet the drawing requirements, effectively improving the product qualification rate. At the same time, this height adjustment function enables the same roll forging machine to quickly adapt to changes in the die center distance of different die specifications or different wear conditions without replacing equipment or making complex mechanical modifications, significantly improving the versatility and utilization of the equipment; (2) High speed compensation accuracy and rapid response: By filling the oil chamber to the preset back pressure before rolling begins, and stopping the oil supply after rolling begins, the damping value of the compensation action is controlled by the pressure threshold of the pressure-responsive pressure relief element. The compensation pressure does not depend on the workpiece thrust, but is determined by the preset hydraulic parameters. The compensation accuracy is high and the rolling stability is good. (3) High reliability of compensation for rolling speed fluctuations: During the rolling process, the speed compensation cylinder maintains the preset back pressure through the pressure-responsive pressure relief element, so that the compensation mechanism is always in standby state; when the roll experiences instantaneous linear speed overshoot due to factors such as uneven billet hardness and temperature fluctuation, the pressure in the oil inlet chamber is compressed and the pressure-responsive pressure relief element is passively opened to relieve pressure and absorb the relative displacement caused by the speed difference. This mechanism is based entirely on the physical response of the hydraulic system and does not involve complex electrical control logic, so it has high reliability. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 This is a cross-sectional view of the height adjustment unit in this invention; Figure 3 This is a partial structural diagram of the lifting mechanism and the bearing seat in the locked state in this invention; Figure 4 This is a cross-sectional view of the bearing seat and mounting seat in the present invention in an unlocked state; Figure 5 for Figure 4 Enlarged structural diagram at point G; Figure 6 This is a three-dimensional structural diagram of the mounting base with a height adjustment unit and a lifting mechanism in this invention; Figure 7 This is a three-dimensional structural diagram of the main body of the robotic arm in this invention; Figure 8This is a cross-sectional view of the main body of the robotic arm in this invention; Figure 9 for Figure 8 Enlarged structural diagram at point E; Figure 10 for Figure 8 Enlarged structural diagram at point F; Figure 11 This is a diagram of the hydraulic system used to control the compensation action of the speed compensation cylinder in this invention. Detailed Implementation

[0019] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0020] like Figures 1 to 11 As shown, a workpiece clamping device for a roll forging machine includes a frame Z1, a robot body, and a linear motion mechanism. A mounting base Z2 is fixedly installed on the frame Z1, and a bearing base Z3 is installed above the mounting base Z2. A linear motion mechanism is installed on the bearing base Z3. The robot body is connected to the linear motion mechanism. The linear motion mechanism is used to drive the robot body to reciprocate in planes parallel to and perpendicular to the rolling direction. A height adjustment unit is provided between the mounting base Z2 and the bearing base Z3 to support the bearing base Z3 in the vertical direction. The height adjustment unit has an adjustable support height to adjust the position of the robot body in the vertical direction to adapt to changes in the center distance of the mold.

[0021] In this specific embodiment, the linear motion mechanism includes an X-axis drive assembly X1 and a Y-axis drive assembly Y1. The X-axis drive assembly X1 is mounted on the support Z3 and drives the robot body to reciprocate along a direction perpendicular to the rolling direction, enabling the robot body to switch positions between different rolling passes. The Y-axis drive assembly Y1 is connected between the X-axis drive assembly X1 and the robot body, driving the robot body to reciprocate along a direction parallel to the rolling direction, enabling the workpiece to enter and exit the rolling area. During operation, after one rolling pass is completed, the Y-axis drive assembly Y1 drives the robot body to retreat along the rolling direction, causing the workpiece to leave the rolling area; subsequently, the X-axis drive assembly X1 drives the robot body to move along a direction perpendicular to the rolling direction to the corresponding position of the next pass; the Y-axis drive assembly Y1 then drives the robot body to advance along the rolling direction, feeding the workpiece into the next pass for rolling, thus completing multi-pass rolling forming. Through the coordinated operation of the X-axis drive assembly X1 and the Y-axis drive assembly Y1, automatic transfer and continuous rolling of the workpiece during multi-pass rolling are achieved.

[0022] In this specific embodiment, the height adjustment unit includes a wedge drive assembly, which includes two first wedges Z4 and one second wedge Z5. Two first wedges Z4 are mounted on the mounting base Z2 and can slide relative to each other in a preset direction. A second wedge Z5 is mounted between the two first wedges Z4, and the top of the second wedge Z5 supports the bottom of the bearing base Z3. The top of the two first wedges Z4 is provided with a first inclined end face Z41, and the two first inclined end faces Z41 are arranged in a mirror symmetrical manner. The bottom of the second wedge Z5 is provided with a second inclined end face Z51 that cooperates with the two first inclined end faces Z41. The two second inclined end faces Z51 are arranged in a V shape. The two first wedges Z4 form an inclined surface cooperation with the corresponding side of the second inclined end face Z51 on the bottom end face of the second wedge Z5 through their respective first inclined end faces Z41. Each first wedge Z4 is fixedly equipped with a nut, namely a left-handed nut Z6 and a right-handed nut Z7. The two nuts respectively engage with the left-handed and right-handed threaded sections of a double-ended screw Z8 rotatably mounted on the mounting base Z2. When the double-ended screw Z8 rotates, the left-handed nut Z6 and the right-handed nut Z7 respectively drive their corresponding first wedge Z4 to slide towards each other or slide away from each other in a preset direction, thereby driving the second wedge Z5 to move vertically, thus causing the bearing base Z3 to rise or fall vertically. Through the V-shaped inclined surface engagement between the two first wedges Z4 and one second wedge Z5, the horizontal motion driven by the double-ended screw Z8 is precisely converted into the vertical lifting motion of the bearing base Z3, achieving precise adjustment of the robot's height. The V-shaped structure allows the bearing seat Z3 to bear force simultaneously from both sides, ensuring smooth and non-skewed lifting. The left-hand and right-hand threaded sections on the double-ended screw Z8 engage with the left-hand nuts Z6 and right-hand nuts Z7 on the two first wedges Z4, respectively, driving the two first wedges Z4 to move towards each other synchronously and equidistantly or separate away from each other, ensuring that the second wedge Z5 remains centered and that the bearing seat Z3 does not shift horizontally during lifting. Simultaneously, the V-shaped inclined surface and the threaded engagement of the double-ended screw Z8 have self-locking characteristics, preventing the entire weight of the bearing seat Z3, the linear motion mechanism, and the robot arm from driving the first wedges Z4 to slide in the opposite direction or the double-ended screw Z8 to reverse, ensuring that the adjusted support height remains stable over a long period under rolling vibration and impact. This wedge drive assembly has a compact structure and few parts; height adjustment can be completed simply by manually rotating the double-ended screw Z8, making it easy to operate, low-cost, and offering multiple advantages such as high adjustment accuracy, smooth operation, and reliable self-locking.

[0023] In this specific embodiment, the bottom of the first wedge Z4 is provided with a lower slider Z42, and the mounting base Z2 is provided with a guide rail Z21. The lower slider Z42 is slidably disposed within the guide rail Z21. The top of the first wedge Z4 is provided with an upper slider Z43, the top end face of which is the first inclined end face Z41. The bottom of the second wedge Z5 is provided with a guide groove Z53, the bottom end face of which is the second inclined end face Z51. The upper slider Z43 is slidably disposed within the guide groove Z53. The sliding engagement between the lower slider Z42 and the guide rail Z21 provides precise guidance for the horizontal sliding of the first wedge Z4, ensuring that it always moves linearly in a preset direction without deflection. The sliding engagement between the upper slider Z43 and the guide groove Z53 provides vertical guidance for the lifting and lowering movement of the second wedge Z5. The two sets of guides respectively constrain the trajectories of horizontal and vertical motion, together ensuring the motion accuracy when the V-shaped inclined plane is used to convert horizontal motion into vertical motion, thus ensuring the accuracy and repeatability of height adjustment.

[0024] In this specific embodiment, the acute angle between the first inclined end face Z41 and the horizontal plane is 5°. This angle is smaller than the friction angle of conventional metal materials, which ensures that the inclined surface has reliable self-locking characteristics. The entire weight of the bearing seat Z3 and the main body of the robot cannot drive the first inclined wedge Z4 to slide in the opposite direction, ensuring that the adjusted support height will not change under rolling vibration and impact. At the same time, the 5° angle ensures the reliability of self-locking without causing excessively low transmission efficiency due to the angle being too small. The operator can still easily complete the height adjustment, thus balancing the reliability of self-locking and the ease of adjustment.

[0025] In this specific embodiment, two sets of wedge drive assemblies are provided, each set positioned at one end of the mounting base Z2 and facing each other. Two double-ended screws Z8 are each equipped with a synchronous sprocket Z9, which are connected by a synchronous chain Z91. One end of one of the double-ended screws Z8 is coaxially connected to a drive shaft Z80, which receives external driving force to drive the two sets of wedge drive assemblies to operate synchronously. By positioning the two sets of wedge drive assemblies at both ends of the mounting base Z2 and facing each other, they simultaneously bear and drive both ends of the bearing seat Z3, ensuring that the load is shared by both sets of assemblies, resulting in uniform force distribution and avoiding the risks of uneven loading and overturning associated with a single-set drive. Synchronous sprocket Z9 and synchronous chain Z91 enable the linkage of two sets of double-headed screws Z8. Only one set needs to be driven to drive the two sets of synchronous movements, ensuring that the lifting and lowering movements of both ends of the bearing seat Z3 are completely synchronized. This ensures that the bearing seat Z3 is always in a horizontal state during the height adjustment process and will not tilt with one end higher than the other, thereby ensuring the adjustment accuracy and straightness of the robot's center line in the vertical direction.

[0026] In this specific embodiment, a drive nut Z811 is coaxially fixed at one end of the drive shaft Z80. The drive nut Z811 is used to cooperate with a wrench to receive manually applied driving force. Manual drive is achieved through the cooperation of the wrench and the drive nut Z811, eliminating the need for a power source such as a motor or hydraulic motor, simplifying the equipment structure and reducing manufacturing costs. Operators can adjust the drive as needed, without being limited by a power source, and the adjustment process is intuitive and controllable. Furthermore, manual drive can be safely performed when the equipment is stopped, without the need for complex electrical interlocking protection, making operation simple and maintenance convenient.

[0027] In this specific embodiment, a scale indicator (not shown in the figure) is also provided at the corresponding position of the mounting base Z2 to indicate the adjustment amount of the support height of the height adjustment unit. The scale indicator provides the operator with an intuitive reading of the height adjustment amount, making the adjustment process more reliable and avoiding errors caused by experience or visual estimation. The operator can precisely rotate the drive nut Z811 to the corresponding scale position according to the actual change in the die center distance, adjusting to the correct position in one go without repeated trial rolling, effectively improving adjustment efficiency and accuracy.

[0028] In this specific embodiment, the mounting base Z2 is also provided with a chain tensioning device for adjusting the tension of the synchronous chain Z91. The chain tensioning device can adopt a conventional chain tensioning structure in the art.

[0029] In this specific embodiment, a lifting mechanism is provided between the mounting base Z2 and the bearing base Z3. This mechanism lifts the bearing base Z3 upwards before adjusting the support height of the height adjustment unit, thus unloading the height adjustment unit. After the support height of the height adjustment unit is adjusted, the lifting mechanism releases its lifting action, allowing the height adjustment unit to support the bearing base Z3 and maintain the adjusted support height. By lifting the bearing base Z3 upwards before height adjustment, the bottom of the bearing base Z3 is disengaged from the top of the second wedge Z5. The height adjustment unit is adjusted under no-load conditions, significantly reducing transmission friction resistance. The operator can easily rotate the drive nut Z811 to complete the adjustment, making the adjustment convenient, labor-saving, and more precise, while avoiding wear on the V-shaped inclined surface caused by heavy-load adjustment. After adjustment, the lifting mechanism releases, causing the bearing base Z3 to fall back and rest on the second wedge Z5. The height adjustment unit bears the load and maintains the adjusted height through its self-locking characteristic, achieving an optimized working mode of no-load adjustment and loaded self-locking. In addition, the lifting mechanism can also serve as a safety locking device, providing auxiliary locking protection when the height adjustment unit fails due to extreme working conditions.

[0030] In this specific embodiment, four lifting mechanisms are provided, each located at one of the four corners of the support seat Z3. This ensures that the support seat Z3 is lifted smoothly and evenly, preventing tilting. The four lifting mechanisms, positioned at the four corners of the support seat Z3, operate synchronously during lifting. The support seat Z3 is simultaneously stressed at all four corners, resulting in a completely symmetrical and uniform load distribution. This fundamentally avoids the risk of tilting and overturning caused by single-point or two-point pushing. Even if the center of gravity of the support seat Z3 and the linear motion mechanism and manipulator body mounted on it is offset, the four lifting mechanisms can counteract the unbalanced torque generated by the eccentric load through the coordinated distribution of their respective pushing forces. This ensures that the support seat Z3 remains horizontal during lifting and lowering, preventing jamming or tilting and guaranteeing the safety and reliability of the lifting process.

[0031] In this specific embodiment, the lifting mechanism is a lifting cylinder Z81. The cylinder body of the lifting cylinder Z81 is fixedly mounted on the mounting base Z2. The piston rod Z810 of the lifting cylinder Z81 extends vertically upward, and a locking ring Z82 is provided at the end of the piston rod Z810. A locking block Z83 is fixedly mounted at the bottom of the bearing base Z3. The locking block Z83 has a locking cavity Z84 with an opening on one side. The locking ring Z82 is disposed in the locking cavity Z84 and can move up and down within the locking cavity Z84. When the piston rod Z810... When extended upwards, the locking ring Z82 moves upwards within the locking cavity Z84 to release the pressure on the bottom end face of the locking cavity Z84. Subsequently, the top of the piston rod Z810 pushes upwards against the top end face of the locking cavity Z84 or the bottom end face of the support seat Z3, lifting the support seat Z3 upwards and unloading the height adjustment unit. After the height adjustment unit has adjusted its support height, the piston rod Z810 retracts downwards, and the locking ring Z82 presses downwards against the bottom end face of the locking cavity Z84, locking the support seat Z3 downwards. The lifting cylinder Z81 has a simple structure and strong load-bearing capacity, providing sufficient lifting force to lift the support seat Z3 and all the loads mounted on it. The mating structure of the locking ring Z82 and the locking cavity Z84 integrates both lifting and locking functions. When the piston rod Z810 extends, the locking ring Z82 pushes against the top end face of the locking cavity Z84 to complete the lifting; when the piston rod Z810 retracts, the locking ring Z82 presses against the bottom end face of the locking cavity Z84 to complete the locking, achieving two functions at once. The locking function, together with the self-locking function of the height adjustment unit, constitutes double locking protection. Even if the self-locking of the height adjustment unit is broken due to extreme vibration or impact, the mechanical locking of the lifting cylinder Z81 can still firmly lock the support seat Z3, fundamentally eliminating the safety hazards caused by accidental loosening of the height. In addition, the side-opening locking cavity Z84 structure facilitates the insertion and removal of the locking ring Z82 from the side, making assembly, disassembly, and maintenance convenient.

[0032] In this specific embodiment, the specific structure of the robotic arm body is as follows: The main body of the robot arm is equipped with a speed compensation cylinder 1, a clamping cylinder 7, and a robot arm gripper 5 for clamping the workpiece. The clamping cylinder 7 is used to drive the robot arm gripper 5 to clamp or release. The speed compensation cylinder 1 is used to drive the robot arm gripper 5 to reciprocate along the rolling direction. The speed compensation cylinder 1 has an oil inlet chamber 10. Before rolling begins, the speed compensation cylinder 1 is filled with oil through the oil inlet chamber 10 to a preset back pressure, and the oil supply is stopped after rolling begins. A pressure-responsive pressure relief element 2 is provided on the oil inlet line of the oil inlet chamber 10. The pressure-responsive pressure relief element 2 has a preset pressure threshold. When the preset back pressure is lower than the pressure threshold, the pressure-responsive pressure relief element opens to relieve pressure when the pressure exceeds the pressure threshold and automatically resets and closes when the pressure drops to the preset back pressure. When the linear speed of the roll is greater than the backward speed of the robot body, the oil inlet chamber 10 is compressed and the pressure rises instantaneously. When the pressure exceeds the pressure threshold, the pressure-responsive pressure relief element 2 is passively opened to release the high-pressure oil in the oil inlet chamber 10, thereby absorbing the relative displacement caused by the speed difference. After the pressure is released to the preset back pressure, the pressure-responsive pressure relief element 2 automatically closes. The clamping cylinder 7 is equipped with an elastic energy storage holding mechanism, which is used to maintain the clamping state of the robotic arm gripper 5 by using the stored elastic force when the robotic arm gripper 5 is holding the workpiece.

[0033] It is important to note that the preset back pressure should be much lower than the pressure threshold, and the difference between the two should be greater than the pressure fluctuation range under normal operating conditions during rolling, so as to ensure that only the additional pressure caused by the speed difference can trigger the pressure relief.

[0034] In this specific embodiment, the pressure-responsive relief element 2 is a relief valve. Relief valves are mature hydraulic components, offering stable and reliable operation, low cost, and ease of replacement and maintenance, thus reducing equipment downtime and maintenance costs.

[0035] In this specific embodiment, the speed compensation cylinder 1 is connected to a hydraulic system for controlling its compensation action. The hydraulic system includes an oil supply line P1, a first return line T1, a second return line T2, a pressure reducing valve J, a solenoid directional valve D, a two-way one-way throttle valve S, and a relief valve. The oil supply line P1 is connected to the inlet (P port) of the pressure reducing valve J. The outlet (A port) of the pressure reducing valve J is connected to the inlet (P port) of the solenoid directional valve D. The return port (T port) of the pressure reducing valve J is connected to the first return oil line T1. The first working port (A port) of the solenoid directional valve D is connected to the inlet chamber 10 via the first channel AA of the bidirectional one-way throttle valve S. The second working port (B port) of the solenoid directional valve D is connected to the second return oil line T2 via the second channel BB of the bidirectional one-way throttle valve S. The return port (T port) of the solenoid directional valve D is connected to the first return oil line T1. The inlet port (P port) of the relief valve is connected to the oil inlet line between the first channel AA of the bidirectional one-way throttle valve S and the inlet chamber 10. The outlet port (T port) of the relief valve is connected to the first return oil line T1. The pressure of the oil supply line P1 is adjusted to the set value by the pressure reducing valve J, providing a stable preset back pressure for the inlet chamber 10 of the speed compensation cylinder 1. The pressure reducing valve J can automatically compensate for pressure fluctuations caused by load changes, ensuring that the pressure in the oil inlet chamber 10 is always maintained within the set range, thereby guaranteeing the stability and consistency of the compensation action. Before rolling begins, when the solenoid directional valve D is in the working position, the oil inlet chamber 10 is cut off from the return oil circuit, and the speed compensation cylinder 1 remains in the oil inlet state and is filled with oil to the preset back pressure. After rolling begins, the solenoid directional valve D switches to the cut-off position, and the pressurized oil enters the second return oil line T2 through the second channel BB of the bidirectional one-way throttle valve S. The preset back pressure in the oil inlet chamber 10 is maintained through the overflow valve and the check valve. By switching the solenoid directional valve D, the speed compensation cylinder 1 can be flexibly controlled during operation without the need for external sensors or complex control logic. The bidirectional one-way throttle valve S consists of two parallel check valves and a throttle valve. When the oil flows in the forward direction, the flow rate is controlled (speed regulation) through the throttle valve, and free flow is achieved through the check valve when the oil flows in the reverse direction. The oil inlet speed of the oil inlet chamber 10 is controlled by the first channel AA of the bidirectional one-way throttle valve S, and the return speed is controlled by the second channel BB, thus realizing independent adjustment of the speed of the compensation action and the reset action. At the same time, the bidirectional one-way throttle valve S has good speed rigidity and temperature stability, and is less affected by oil temperature changes, ensuring that a stable compensation speed can be maintained under different operating conditions.

[0036] In this specific embodiment, the direction in which the robot body moves towards the roller while holding the workpiece is defined as forward, and the direction in which it moves away from the roller is defined as backward. The main body of the robotic arm includes a guide sleeve 3 extending in the front-to-back direction, a sliding sleeve 4 slidably disposed within the guide sleeve 3, and a robotic gripper 5 disposed at the front end of the sliding sleeve 4. The speed compensation cylinder 1 includes a compensation cylinder body 11, within which a push rod 6 is movably disposed in the front-to-back direction. The front end of the push rod 6 is fixedly connected to the rear end of the sliding sleeve 4, and the rear end of the push rod 6 extends rearward from the compensation cylinder body 11 and is fixedly connected to the cylinder body 71 of the clamping cylinder 7. The clamping cylinder 7 is used to drive the clamping or releasing of the robotic gripper 5. The cooperation between the guide sleeve 3 and the sliding sleeve 4 provides stable reciprocating motion guidance for the main body of the robotic arm. The compensation cylinder is connected in series with the sliding sleeve 4 and the clamping cylinder 7 via the push rod 6, resulting in a compact structure, a simple transmission path, and easy arrangement in a limited space.

[0037] In this specific embodiment, the guide sleeve 3 has a guide groove 31 extending in the front-to-back direction, and the sliding sleeve 4 is provided with a guide member 41 that slides and engages with the guide groove 31. The guide member 41 is movably disposed within the guide groove 31 in the front-to-back direction. The sliding engagement between the guide groove 31 and the guide member 41 ensures the linear accuracy of the reciprocating motion of the sliding sleeve 4, prevents deflection or jamming during the motion, and improves the position repeatability accuracy of the robot arm.

[0038] In this specific embodiment, the guide component 41 is a cam follower. The cam follower has the characteristics of low rolling friction, good wear resistance, and strong load-bearing capacity, and can maintain guiding accuracy under high-frequency reciprocating motion conditions for a long time, thus extending its service life.

[0039] In this specific embodiment, the push rod 6 includes a small-diameter section 601 and a large-diameter section 602 coaxially connected from back to front. The small-diameter section 601 forms an annular oil inlet chamber 10 with the inner wall of the compensation cylinder 11. A stepped surface 61 is formed between the large-diameter section 602 and the small-diameter section 601. The stepped surface 61 constitutes a pushing surface for driving the push rod 6 to move towards the roll when oil is introduced into the oil inlet chamber 10. Through the segmented design of the push rod 6, the annular space between the small-diameter section 601 and the inner wall of the cylinder naturally forms the oil inlet chamber 10, resulting in a compact structure. The stepped surface 61, as a pushing surface, can efficiently convert the oil pressure into the forward thrust of the push rod 6, resulting in high driving efficiency.

[0040] In this specific embodiment, a front cylinder head 12 is also provided at the front end of the compensating cylinder body 11, and the front end of the large-diameter section 602 of the push rod 6 extends out of the front cylinder head 12. The front cylinder head 12 guides and limits the large-diameter section 602 of the push rod 6, ensuring the movement accuracy of the push rod 6.

[0041] In this specific embodiment, a buffer mechanism is provided between the compensation cylinder 11 and the cylinder 71 of the clamping cylinder 7 to prevent direct rigid collision between the two. The buffer mechanism can absorb the impact energy generated when the compensation cylinder resets, avoiding rigid collision between the compensation cylinder 11 and the cylinder 71 of the clamping cylinder 7, effectively protecting the equipment structure and extending its service life.

[0042] In this specific embodiment, an annular partition wall 110 is provided inside the compensation cylinder 11, which divides the inner cavity of the compensation cylinder 11 into a front chamber (not shown in the figure) and a rear chamber (not shown in the figure); the front part of the small diameter section 601 of the push rod 6 passes through the annular partition wall 110 and is located in the front chamber, and an oil inlet chamber 10 is formed between the front part of the small diameter section 601 and the inner wall of the front chamber; The buffer mechanism includes a buffer piston 8 sleeved on the small-diameter section 601 of the push rod 6. The buffer piston 8 includes a front piston section 81, a middle piston section 82, and a rear piston section 83 arranged coaxially from front to back. The front piston section 81 is located in the rear chamber. A buffer chamber 1103 is formed between the front end face of the front piston section 81, the rear end face of the annular partition wall 110, and the inner wall of the rear chamber. The buffer chamber 1103 is kept in an oil-inlet state during the rolling process. A rear cylinder head 13 is provided at the rear end of the compensation cylinder body 11. The rear piston section 83 extends out of the rear cylinder head 13. The outer diameter of the middle piston section 82 is smaller than the outer diameter of the front piston section 81 and the rear piston section 83. The annular partition wall 110 divides the inner cavity of the compensation cylinder 11 into a front chamber and a rear chamber, forming an oil inlet chamber 10 and a buffer mechanism, respectively, with clear functional zoning. The buffer chamber 1103 maintains an oil inlet state during the rolling process, providing continuous damping force for the buffer piston 8. The outer diameter of the intermediate piston section 82 matches the inner diameter of the center hole of the rear cylinder head 13, forming a sliding guide to ensure the movement accuracy of the buffer piston 8. The rear piston section 83 extends outside the rear cylinder head 13 and can contact the cylinder body of the clamping cylinder 7 during reset, achieving precise limit buffering.

[0043] In this specific embodiment, a clamping piston 72 is movably disposed in the cylinder body 71 of the clamping cylinder 7, and a drive rod 73 is coaxially disposed on the clamping piston 72; a cavity (not shown in the figure) is provided in the center of the push rod 6, which is a through cavity; the drive rod 73 is movably disposed in the cavity, and the front end of the drive rod 73 extends out of the cavity; the outer diameter of the drive rod 73 and the inner diameter of the cavity are matched to each other, and the cavity guides the drive rod 73 movably. The front end of the drive rod 73 is connected to a drive head 74. The robotic gripper 5 includes multiple gripper bodies 50. Each gripper body 50 is connected to the drive head 74 through a corresponding connecting rod 75. The rear end of the connecting rod 75 is rotatably connected to the drive head 74, and the front end of the connecting rod 75 is rotatably connected to the rear end of the corresponding gripper body 50. When the drive rod 73 moves backward, the drive head 74 pulls the connecting rod 75 backward, causing the multiple gripper bodies 50 to open relative to each other; when the drive rod 73 moves forward, the drive head 74 pushes the connecting rod 75 forward, causing the multiple gripper bodies 50 to move closer together to achieve clamping. The drive rod 73 passes through the cavity in the center of the push rod 6, realizing a nested coaxial arrangement of the speed compensation cylinder 1 and the clamping cylinder 7, which greatly saves axial space and makes the overall structure more compact; the linear motion of the drive rod 73 is converted into the opening and closing motion of the gripper bodies 50 through the linkage mechanism, which is simple and reliable.

[0044] In this specific embodiment, the robotic gripper 5 also includes a gripper mounting portion 500 fixedly disposed at the front end of the sliding sleeve 4. The gripper body 50 is disposed in an openable manner relative to the gripper mounting portion 500 and is movably connected to the drive head 74 via a connecting rod 75.

[0045] In this specific embodiment, the clamping piston 72 divides the inner cavity of the cylinder body 71 of the clamping cylinder 7 into a front chamber 701 and a rear chamber 702. The front chamber 701 and the rear chamber 702 are respectively connected to an oil port 70. An elastic energy storage type holding mechanism—a spring 77—is provided in the rear chamber 702. The spring 77 is sleeved on the drive rod 73, and the front end of the spring 77 abuts against the rear end of the clamping piston 72, while the rear end of the spring 77 abuts against the inner side of the rear end cover of the clamping cylinder 7. Oil inlet and outlet can be controlled separately through the oil ports 70 of the front chamber 701 and the rear chamber 702, enabling bidirectional drive of the clamping piston 72. When the hydraulic system supplies oil to the front chamber 701, the clamping piston 72 moves backward, and the spring 77 is compressed and stores elastic potential energy. At this time, the manipulator gripper 5 remains open under hydraulic drive. When it is necessary to clamp a workpiece, the hydraulic system switches to supply oil to the rear chamber 702, and the hydraulic oil pushes the clamping piston 72 forward. Simultaneously, the compressed spring 77 releases its stored elastic potential energy. This elastic force, in conjunction with the hydraulic pressure, pushes the clamping piston 72 forward, which in turn drives the gripper body 50 to move closer together via the drive rod 73, drive head 74, and connecting rod 75, thus clamping the workpiece. During the clamping process, the elastic force provided by the spring 77 constitutes an auxiliary clamping force source, which, combined with the hydraulic pressure, enhances the clamping stability of the gripper. While the workpiece is clamped by the gripper, the spring 77 maintains a certain amount of compression, continuously applying a forward elastic thrust to the clamping piston 72, thus providing auxiliary clamping force throughout the rolling process. More importantly, the spring 77 constitutes an elastic energy storage holding mechanism that does not rely on external continuous power supply. Its functions are as follows: (1) When the hydraulic system is working normally, the elastic force of the spring 77 continuously acts on the clamping piston 72, assisting in maintaining the clamping state of the gripper, reducing the pressure dependence on the continuous oil supply of the hydraulic system, and improving the stability of the clamping force; (2) When the hydraulic system experiences oil supply fluctuations, a sudden drop in pressure, or complete loss of pressure, the elastic potential energy stored in the spring 77 is released independently, pushing the clamping piston 72 to maintain the forward push-out state, thereby allowing the manipulator gripper 5 to continue to maintain the clamping state, preventing the workpiece from accidentally falling off, and playing a role in failure safety protection. By incorporating the aforementioned spring 77, an elastic energy storage holding mechanism with dual functions of auxiliary force amplification and fail-safe retention is integrated into the clamp cylinder 7. This not only improves the clamping stability under normal working conditions but also fundamentally reduces the dependence of clamping reliability on the continuous oil supply of the hydraulic system, significantly enhancing the safety and fault tolerance of the equipment.

[0046] In this specific embodiment, spring 77 is a rectangular spring. Rectangular springs have a large spring capacity and a long service life, and can maintain a stable spring force under high-frequency reciprocating working conditions, ensuring the reliability of the gripper reset.

[0047] In this specific embodiment, the rear end of the drive rod 73 extends outside the cylinder body 71 of the clamping cylinder 7, and a sensing ring 731 is provided at the rear end of the drive rod 73. A sensor 100 is provided on the main body of the robot arm, which cooperates with the sensing ring 731. The sensor 100 is used to detect the position of the drive rod 73 to determine whether the robot arm gripper 5 is loose, and to issue a stop signal when the robot arm gripper 5 is detected to be loose and the workpiece is dropped. Through the cooperation of the sensing ring 731 and the sensor 100, the position of the drive rod 73 is monitored in real time, thereby determining whether the gripper is holding the workpiece; once the workpiece is detected to have fallen off, a stop signal is immediately issued to avoid the equipment from continuing to operate in a materialless state and causing damage, thus improving the safety of the equipment.

[0048] In this specific embodiment, a protective sleeve 9 is detachably provided at the rear end of the cylinder body 71 of the clamping cylinder 7, and the rear end of the drive rod 73 with a sensing ring 731 is located inside the protective sleeve 9; the sensor 100 is mounted on the protective sleeve 9. The protective sleeve 9 provides physical protection against dust and collisions for the rear end of the drive rod 73 and the sensing ring 731; the sensor 100 is mounted on the protective sleeve 9 for easy maintenance and replacement; the detachable design of the protective sleeve 9 facilitates the inspection and maintenance of internal components.

[0049] In this specific embodiment, to ensure the sealing of each hydraulic chamber and prevent oil leakage and cross-contamination, seals are provided at the following locations: A seal is provided between the annular partition wall 110 and the small-diameter section 601 of the push rod 6 to prevent oil from crossing between the front chamber and the rear chamber; A seal is provided between the front piston section 81 and the inner wall of the rear chamber to prevent the oil in the buffer chamber 1103 from leaking along the outer periphery of the front piston section 81. Seals are provided between the small diameter section 601 of the push rod 6 and the front piston section 81, and between the small diameter section 601 of the push rod 6 and the rear piston section 83, to prevent oil leakage along the fit gap between the push rod 6 and the buffer piston 8. A seal is provided between the large-diameter section 602 of the push rod 6 and the inner wall of the front chamber to prevent the oil in the oil inlet chamber 10 from leaking along the outer periphery of the large-diameter section 602 of the push rod 6. A front cylinder head 12 is provided at the front end of the compensation cylinder 11, and a seal is provided between the large diameter section 602 of the push rod 6 and the front cylinder head 12 to prevent oil leakage along the front end of the push rod 6. A sealing element is provided between the clamp piston 72 and the inner wall of the cylinder body 71 of the clamp cylinder 7 to divide the inner cavity of the cylinder body 71 of the clamp cylinder 7 into a front chamber 701 and a rear chamber 702, and to prevent oil from crossing between the two chambers. A seal is provided between the drive rod 73 and the cylinder body 71 of the clamp cylinder 7 to prevent the oil in the clamp cylinder 7 from leaking along the rear end of the drive rod 73. Seals are provided between the large-diameter section 602 of the push rod 6 and the front chamber and the front cylinder head 12 to ensure the sealing between the internal cavity of the push rod 6 and the outside.

[0050] The specific working principle is as follows: [Preparation status before rolling] The hydraulic system supplies oil to the inlet chamber 10 of the speed compensation cylinder 1 through the oil supply line P1 via the pressure reducing valve J and the solenoid directional valve D in the working position. After the inlet chamber 10 is filled with oil to the preset back pressure, the solenoid directional valve D switches to the cut-off position, and the oil inlet chamber 10 stops receiving oil. At the same time, the hydraulic system supplies oil to the front chamber 701 of the clamp cylinder 7, pushing the clamp piston 72 to move backward. The clamp piston 72 drives the drive rod 73 to move backward. The drive rod 73 drives the gripper body 50 to open relative to each other through the drive head 74 and the connecting rod 75. At this time, the manipulator gripper 5 is in the open state, and the spring 77 is compressed and stores energy. During this process, the buffer chamber 1103 of the compensation cylinder 11 is kept in the oil supply state, so that the buffer piston 8 is in the pre-pressurized state.

Clamping the workpiece

Claims

1. A workpiece clamping device for a roll forging machine, comprising a frame, a robotic arm body, and a linear motion mechanism, characterized in that: A mounting base is fixedly installed on the frame, and a bearing seat is provided above the mounting base. The linear motion mechanism is installed on the bearing seat, and the robot body is connected to the linear motion mechanism. The linear motion mechanism is used to drive the robot body to reciprocate in planes parallel to and perpendicular to the rolling direction. A height adjustment unit is provided between the mounting base and the bearing base for supporting the bearing base in the vertical direction. The height adjustment unit has an adjustable support height to adjust the position of the robot body in the vertical direction to adapt to the change of the mold center distance. The main body of the robotic arm is equipped with a speed compensation cylinder and a robotic arm gripper for clamping the workpiece. The speed compensation cylinder is used to drive the robotic arm gripper to reciprocate along the rolling direction and to compensate for the speed difference between the roll and the robotic arm gripper during the rolling process. The speed compensation cylinder has an oil inlet chamber. Before the rolling starts, the speed compensation cylinder is filled with oil through the oil inlet chamber to a preset back pressure. After the rolling starts, the oil supply is stopped. The oil inlet circuit of the oil inlet chamber is equipped with a pressure-responsive pressure relief element. The pressure-responsive pressure relief element has a preset pressure threshold. When the preset back pressure is lower than the pressure threshold, the pressure-responsive pressure relief element opens to relieve pressure when the pressure exceeds the pressure threshold and automatically resets and closes when the pressure drops to the preset back pressure.

2. The workpiece clamping device for a roll forging machine as described in claim 1, characterized in that... The height adjustment unit includes a wedge drive assembly, which includes two first wedges and one second wedge. Two first wedges are disposed on the mounting base and can slide relative to each other in a preset direction. A second wedge is disposed between the two first wedges, and the top of the second wedge supports the bottom of the bearing base. The top of each of the two first wedges is provided with a first inclined end face, and the two first inclined end faces are arranged in a mirror symmetrical manner. The bottom of the second wedge is provided with a second inclined end face that mates with the two first inclined end faces. The two second inclined end faces are arranged in a V-shape. The two first wedges form an inclined surface engagement with the corresponding second inclined end face of the bottom end face of the second wedge through their respective first inclined end faces. Each of the first wedges is fixedly provided with a nut, and the two nuts are respectively a left-hand nut and a right-hand nut; the two nuts are respectively threaded into the left-hand thread section and the right-hand thread section of a double-ended screw rotatably provided on the mounting base; when the double-ended screw rotates, the left-hand nut and the right-hand nut respectively drive the corresponding first wedges to slide towards each other or slide away from each other along the preset direction, so as to drive the second wedges to move in the vertical direction, thereby causing the bearing base to rise or fall in the vertical direction.

3. The workpiece clamping device for a roll forging machine as described in claim 2, characterized in that... The wedge drive assembly is provided in two sets, which are respectively located at both ends of the mounting base and face each other; each of the two double-ended screws is provided with a synchronous sprocket, which is connected by a synchronous chain; one end of one of the double-ended screws is coaxially connected to a drive shaft, which is used to receive external driving force to drive the two sets of wedge drive assemblies to move synchronously.

4. The workpiece clamping device for a roll forging machine as described in claim 2, characterized in that... A lifting mechanism is provided between the mounting base and the support base. Before adjusting the support height of the height adjustment unit, the support base is lifted upward to unload the height adjustment unit. After the support height of the height adjustment unit is adjusted, the lifting mechanism releases the lifting action, so that the height adjustment unit carries the support base and maintains the adjusted support height.

5. The workpiece clamping device for a roll forging machine as described in claim 4, characterized in that... The lifting mechanism is a lifting cylinder. The cylinder body of the lifting cylinder is fixedly mounted on the mounting base. The piston rod of the lifting cylinder extends vertically upward, and a locking ring is provided at the end of the piston rod. A locking block is fixedly mounted at the bottom of the bearing base. The locking block has a locking cavity with an opening on one side. The locking ring is disposed in the locking cavity and can move up and down within the locking cavity. When the piston rod extends upward, it moves upward within the locking cavity along with the locking ring to release the pressure on the bottom end face of the locking cavity. Subsequently, the top of the piston rod pushes upward against the top end face of the locking cavity or the bottom end face of the support seat, lifting the support seat upward and unloading the height adjustment unit. After the height adjustment unit has finished adjusting the support height, the piston rod retracts downward, causing the locking ring to press downward against the bottom end face of the locking cavity, locking the support seat downward.

6. The workpiece clamping device for a roll forging machine as described in claim 1, characterized in that: The direction in which the main body of the robotic arm moves towards the roller while holding the workpiece is defined as forward, and the direction in which it moves away from the roller is defined as backward. The main body of the robotic arm includes a guide sleeve that extends through the front and rear directions and a sliding sleeve that is slidably disposed within the guide sleeve, and the robotic arm gripper is disposed at the front end of the sliding sleeve. The speed compensation cylinder includes a compensation cylinder body, and a push rod is movably disposed in the compensation cylinder body in the front-rear direction. The front end of the push rod is fixedly connected to the rear end of the sliding sleeve, and the rear end of the push rod extends rearward out of the compensation cylinder body and is fixedly connected to the cylinder body of a clamping cylinder. The clamping cylinder is used to drive the gripper of the robot arm to clamp or release.

7. The workpiece clamping device for a roll forging machine as described in claim 6, characterized in that... The push rod includes a small-diameter section and a large-diameter section coaxially connected from back to front. The small-diameter section forms an annular oil inlet chamber with the inner wall of the compensation cylinder. A stepped surface is formed between the large-diameter section and the small-diameter section. The stepped surface constitutes a pushing surface for driving the push rod to move closer to the roll when oil is introduced into the oil inlet chamber.

8. The workpiece clamping device for a roll forging machine as described in claim 7, characterized in that... A buffer mechanism is provided between the compensation cylinder and the clamp cylinder to prevent direct rigid collision between the two. The compensation cylinder is provided with an annular partition wall, which divides the inner cavity of the compensation cylinder into a front chamber and a rear chamber; the front part of the small-diameter section of the push rod passes through the annular partition wall and is located in the front chamber, and the oil inlet chamber is formed between the front part of the small-diameter section and the inner wall of the front chamber. The buffer mechanism includes a buffer piston sleeved on the small-diameter section of the push rod. The buffer piston includes a front piston section, a middle piston section, and a rear piston section coaxially arranged from front to back. The front piston section is disposed in the rear chamber. A buffer chamber is formed between the front end face of the front piston section, the rear end face of the annular partition wall, and the inner wall of the rear chamber. The buffer chamber is kept in an oil-filled state during the rolling process. A rear cylinder head is provided at the rear end of the compensation cylinder body. The outer diameter of the middle piston section matches the inner diameter of the center hole of the rear cylinder head. The rear piston section extends out of the rear cylinder head. The outer diameter of the middle piston section is smaller than the outer diameters of the front piston section and the rear piston section.

9. The workpiece clamping device for a roll forging machine as described in claim 6, characterized in that... The clamping cylinder has a clamping piston that can be moved back and forth inside the cylinder. A drive rod is coaxially mounted on the clamping piston. The center of the push rod has a cavity that runs through the front and back. The drive rod can move back and forth through the cavity, and the front end of the drive rod extends out of the cavity. The front end of the drive rod is connected to a drive head. The robotic gripper includes multiple gripper bodies. Each gripper body is connected to the drive head via a corresponding connecting rod. The rear end of the connecting rod is rotatably connected to the drive head, and the front end of the connecting rod is rotatably connected to the rear end of the corresponding gripper body. When the drive rod moves backward, the drive head pulls the connecting rod backward, causing the multiple gripper bodies to open relative to each other; when the drive rod moves forward, the drive head pushes the connecting rod forward, causing the multiple gripper bodies to come closer together to achieve clamping.

10. The workpiece clamping device for a roll forging machine as described in claim 9, characterized in that... The clamping piston divides the inner cavity of the clamping cylinder into a front chamber and a rear chamber, and the front chamber and the rear chamber are respectively connected by oil ports; the rear chamber is provided with an elastic energy storage type holding mechanism, which is a spring. The spring is sleeved on the drive rod, and the front end of the spring abuts against the rear end of the clamping piston, and the rear end of the spring abuts against the inner side of the rear end cover of the clamping cylinder.

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