13 results about "Forging manipulator" patented technology

The invention discloses a method for constructing a motion trail model of a large forging manipulator, and relates to the technical field of large forging equipment control. The method comprises the steps that a manipulator kinematics model is established based on an improved D-H parameter method, and model parameters are updated in real time through online calibration; constructing and analyzing a Jacobian matrix to identify and smoothly transit the singular configuration; performing attitude interpolation in the SE (3) space by adopting spherical linear interpolation or quaternion interpolation, and generating a smooth trajectory in combination with multi-objective optimization; a multi-source nonlinear constraint model covering machinery, driving, process and safety is established, and integrated decision making is carried out based on model predictive control; and simulating and predicting response by using finite elements and multi-body dynamics, and optimizing model parameters through Bayesian updating or a least square method based on actually measured data. According to the method, the tail end pose precision, the trajectory smoothness and the production efficiency are remarkably improved, and the problems of inaccurate modeling, sudden pose change, incomplete constraint consideration and lack of continuous optimization of a traditional method are solved.

The application discloses a large forging manipulator motion trajectory model construction method, and relates to the technical field of large forging equipment control. The method comprises the following steps: a manipulator kinematics model is established based on an improved D-H parameter method, and model parameters are updated in real time through online calibration; an analytical Jacobian matrix is constructed to identify and smooth the transition singular configuration; in the SE(3) space, spherical linear interpolation or quaternion interpolation is adopted for attitude interpolation, and a smooth trajectory is generated in combination with multi-objective optimization; a multi-source nonlinear constraint model covering machinery, driving, process and safety is established, integrated decision is made based on model predictive control; finite element and multi-body dynamics simulation are used to predict the response, and model parameters are optimized based on measured data through Bayesian updating or least square method. The application significantly improves the end position accuracy, trajectory smoothness and production efficiency, and solves the problems of inaccurate modeling, attitude mutation, incomplete constraint consideration and lack of continuous optimization in the traditional method.

The utility model relates to the technical field of forging manipulator clamping structure, especially relates to the forging manipulator front -positioned clamping structure, including the mounting bracket, the connecting column, and the mounting bracket is opposite and is provided with two groups, still including clamping subassembly and installation subassembly, the intermediate position between mounting bracket is connected with the connecting column, and the opposite installation subassembly is installed between the mounting bracket, and the opposite installation subassembly is installed in the mounting bracket's two ends, clamping subassembly includes the support, and the support is opposite and is installed between the mounting bracket, and the below between the support is installed reciprocating swing motor, and reciprocating swing motor's opposite side swing joint has grabbed the clamping, the utility model discloses the setting of reciprocating swing motor makes the flexible swing of grabbed clamping in certain angle range, can easily adapt to the forging of different shape, size, greatly increased the application scope of manipulator, and can always keep the stable clamping of forging according to the dynamic change of forging, prevents the forging from falling or displacement in the operation process.

The application provides a kind of intelligent forging production line and whole line trajectory planning method, belongs to intelligent forging technical field, including mobile guide rail, mobile guide rail is installed for shifting blank and workpiece forging handling robot, blank making press, forging manipulator, die forging press, blank heating furnace, secondary heating furnace, blank placement area, workpiece placement area and die heating furnace are arranged around mobile guide rail.The application carries out whole line trajectory planning to the above-mentioned intelligent forging production line, determines the time distribution of each process and total time limit, by executing whole line time distribution optimization main program, the time distribution of each sub-stage of forging production line whole line is planned, and the operation space and joint space of forging handling robot are planned.Obviously, the application realizes the automation, unmanned and intelligentization of forging production process by optimizing the motion condition of each joint and handling trajectory, improves the smoothness of forging production line whole line operation and production efficiency.

The present application relates to a kind of forging manipulator hanging mechanism, including front lifting arm, front suspension bar, rear lifting arm, rack, synchronous connecting rod, buffer connecting rod, buffer swing bar, tong bar, lifting linear driver, pitch linear driver and buffer linear driver;Buffer mechanism is made of four-bar mechanism consisting of buffer linear driver, buffer connecting rod and buffer swing bar.The present application uses independent four-bar mechanism as forging manipulator buffer mechanism, realizes the separation of forging manipulator lifting mechanism and buffer mechanism, eliminates the buffer torque and vibration impact received by traditional lifting mechanism;In the process of car starting acceleration, deceleration stage and forging processing, by the passive extension and contraction movement of buffer linear driver in four-bar mechanism, the buffer movement of tong bar to adapt to horizontal mutation external force is realized, so as to improve the structural stability and carrying capacity of forging manipulator.

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.

This invention discloses an axial buffering system and control method for a high-frequency radial forging manipulator chuck. The system includes: multiple symmetrically arranged buffer plunger cylinders, a hydraulic power unit (including a variable pump and a safety valve), a pressure control unit composed of an electro-hydraulic servo valve and a cartridge-type pressure relief valve, an adjustable-volume rigid liquid tank, and a pressure-displacement feedback sensor. The control method includes two modes: in single-machine operation, compressed oil buffering control is implemented, maintaining a hydraulic spring effect through closed-loop pressure; in dual-machine operation, pressure relief-pressure boosting control is implemented, actively relieving pressure to absorb displacement during the buffering phase, and driving hydraulic reset according to a linear function decaying signal during the reset phase. This invention solves the problems of traditional radial forging manipulator mechanical leaf spring-type axial buffering mechanisms, which require frequent replacement of leaf springs when changing buffering stiffness, and the buffering process involves significant impact vibration, resulting in long chuck reset time, short buffering mechanism life, and low feeding accuracy and efficiency.

The utility model belongs to the technical field of forging manipulators, particularly relates to an adjustable clamping device for a forging manipulator, and aims to solve the problem that a special-shaped workpiece cannot be clamped in the prior art, the adjustable clamping device for the forging manipulator comprises a bearing table, and a sliding groove is formed in the top end of the bearing table. Worm and worm wheel transmission is achieved through work of a motor, two bidirectional threaded rods drive two corresponding sliding blocks, a forging workpiece is clamped by clamping plates through connecting rods, it needs to be explained that the multiple clamping plates are arranged and rotationally connected through connecting rings and bearing blocks, and under the condition that the connecting rods and the sliding blocks are rotationally connected, the clamping plates can be clamped by the clamping plates through the connecting rings and the bearing blocks. According to the clamping device, fitting can be conducted according to the irregular shape of a forged workpiece, after the angle of the forged workpiece is automatically adjusted, full fitting and limiting are conducted, the positioning and clamping effect is achieved, and therefore the clamping device is suitable for the forged workpiece in the special shape or the irregular shape, and the overall applicability and comprehensiveness of the clamping device are improved.

A hydraulic control device for improving walking precision of a forging manipulator and eliminating noise comprises a hydraulic pump, an executing mechanism hydraulic motor, a first one-way valve, a two-position three-way electromagnetic valve, a proportional direction valve, a switch cartridge valve and an active control valve set. The output end of the hydraulic pump is sequentially communicated with an oil inlet of the proportional direction valve and an A / B port hydraulic oil way of the executing mechanism hydraulic motor through a main oil way. An oil inlet of the first one-way valve is communicated with an A / B port oil way of the actuating mechanism hydraulic motor, and an oil outlet is connected with the oil tank through an oil supplementing pipeline; a first working oil port of the two-position three-way electromagnetic valve is communicated with an A port oil way of the actuating mechanism hydraulic motor, a second working oil port is communicated with a B port oil way, and an oil return port is connected with the oil tank; an oil return port of the proportional direction valve is communicated with the oil tank through the switch cartridge valve, and the active control valve set is integrated on an A / B port oil way of the executing mechanism hydraulic motor. According to the utility model, the problems of noise and low positioning precision in the walking process of the forging manipulator are effectively solved, and the forging operation quality and efficiency are improved.

The utility model belongs to the technical field of forging manipulator equipment, and discloses a forging manipulator tong head clamping mechanism which comprises a hollow shaft, one end of the hollow shaft is provided with a power part, the power part is fixedly provided with a fixing frame, the fixing frame is provided with four tong arms, and the four tong arms are arranged at equal intervals in the axial direction of the fixing frame. Claw heads are correspondingly installed on the clamp arms respectively, the claw heads are driven by a driving device, the driving device comprises a servo motor, the servo motor is installed on a fixing frame, a threaded rod is vertically and rotatably installed on the fixing frame, and the threaded rod is in transmission connection with an output shaft of the servo motor; the outer surface of the threaded rod is connected with a movable column in a matched mode, the movable column is provided with a connecting plate through a hinge seat, and the end, away from the movable column, of the connecting plate is correspondingly connected with the clamp arms through reinforcing fasteners. According to the utility model, uniform pressure is conveniently applied to a workpiece so as to avoid concentration of single-side stress, and indentations on the surface of a forge piece can be reduced.

This invention relates to the field of robotic arm technology, specifically to a robotic arm mechanism for forging a fully welded valve cover. It includes a cleaning mechanism for removing waste residue from the surface of the valve cover blank. The mechanism comprises two sets of rotating shafts, each with a gear fixedly mounted on it. Connecting rods are fixedly connected to both sides of the gears on each shaft. A striking block is hinged to the end of each connecting rod. An arc-shaped block is slidably inserted between the two sets of connecting rods. A connecting block is fixedly mounted to one end of the arc-shaped block, and limit blocks are fixedly mounted on both the upper and lower sides of the connecting block. This invention, by setting up a driving component and a cleaning component, allows the driving component to control the cleaning component to perform reciprocating rotational motion, thereby causing the striking block to repeatedly strike the blank, causing the waste residue on the blank to fall off. This prevents the waste residue adhering to the blank from falling onto the travel path during transportation, effectively maintaining the cleanliness of the travel path and avoiding bumps during equipment movement caused by falling waste residue.

This application relates to the field of automated stamping equipment and discloses a dual-arm independent collaborative forging manipulator for lightweight stamped parts. The manipulator includes a housing with two identical, symmetrically arranged robotic arms on top of the housing. A central controller is fixedly connected to the inner side of the housing and electrically connected to a fifth motor. This controller controls the two robotic arms to operate collaboratively and independently, performing actions such as clamping the stamped part and feeding it to the stamping die, and clamping the stamped product and feeding it to the product conveyor line. The two robotic arms communicate with each other through the central controller. The ends of the robotic arms are equipped with quickly detachable and replaceable robotic claws. By adopting a symmetrical dual-arm layout and centralized drive by the central controller, continuous actions of one arm feeding and the other unloading are achieved. Different specifications of robotic claws can be quickly replaced in the mounting holes at the fixed ends of the claws to adapt to the clamping requirements of stamped parts of different sizes.