39 results about "Forging manipulator" patented technology

The invention discloses an electric hydraulic integrated driving system of a large forging manipulator and a control method, and belongs to the technical field of driving and transmission of forging manipulators, the electric hydraulic integrated driving system comprises an electric driving unit, a hydraulic power unit, a front offset unit, a rear offset unit, an inclination unit, a lifting unit and a walking unit; the electric driving unit is connected with an external power grid on one hand, and is connected with motors of the hydraulic power unit, the front offset unit, the rear offset unit, the inclination unit, the lifting unit and the walking unit on the other hand; the hydraulic power unit is connected with control valve sets of the front deviation unit, the rear deviation unit, the inclining unit, the lifting unit and the walking unit. Movement is controlled through the motor, power is provided through hydraulic pressure, high power density, high energy efficiency and high performance of a driving and transmission system are achieved, and the requirement for multi-dimensional simultaneous control is met.

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 utility model relates to a clamping device of a parallel forging manipulator. The technical problems that when a square blank is clamped by an existing forging manipulator, the contact area and the clamping force are insufficient, stress concentration is easily caused, and a forging piece is damaged are mainly solved. According to the technical scheme, the clamping device comprises a push block, a pull rod, a rotating shaft, a shell and a parallel type clamping mechanism composed of a front parallel rod, a rear parallel rod and a clamping rod, the push block is connected with one end of the pull rod and can rotate, and the other end of the pull rod is provided with the rotating shaft and located in a cavity in the rear portion of the shell. The rotating shaft is connected with one end of a rear parallel rod of the parallel type clamping mechanism and can rotate, one end of a front parallel rod is connected with a front pin shaft hole in the front end of the shell, and the other end of the front parallel rod is connected with a front pin shaft hole in the rear portion of a clamping rod. The middle of the rear parallel rod is connected with a rear pin shaft hole in the middle of the shell, and the other end of the rear parallel rod is connected with a rear pin shaft hole formed in the rear end of the clamping rod through a pin shaft and can rotate.

The utility model discloses a multi-axis linkage high-precision numerical control forge piece forging mechanical arm, relates to the technical field of forging machine mechanical arms, and aims to solve the problems that when an existing mechanical arm clamps a workpiece, the clamping force of each clamping position cannot be accurately monitored, the clamping position with insufficient clamping force cannot be timely found and overhauled, and the clamping force cannot be accurately monitored. According to the key points of the technical scheme, the device comprises a first linear module, a second linear module is fixedly mounted at the moving end of the first linear module, a third linear module is fixedly mounted at the moving end of the second linear module, and a movable seat is fixedly mounted at the moving end of the third linear module; a sliding rail is fixedly installed on the upper surface of the movable base, a plurality of clamping arms are connected into a sliding groove of the sliding rail in a sliding mode, and every two adjacent clamping arms are oppositely arranged. And the effects that the clamping force of each clamping position can be accurately monitored, and the working stability is effectively improved are achieved.

The utility model belongs to the technical field of alloy forging equipment, and particularly relates to a heat compensation type forging platform which comprises a base, a forging table is arranged at the top of the base, the top of the base is sunken downwards to form a sunken part, and a through groove is formed in the base and communicated with the sunken part. A support frame; a forging unit; each heat supplementing unit comprises a first motor, a threaded rod, a sliding block, an electromagnetic induction coil, a fixing block and a connecting piece, the first motors are arranged above the supporting frame, the fixing blocks are fixedly connected with the base, the threaded rods penetrate through the supporting frame, one ends of the threaded rods are connected with the output ends of the first motors, and the other ends of the threaded rods are rotatably connected with the fixing blocks; the sliding block is slidably connected with the threaded rod, one end of the connecting piece is fixedly connected with the sliding block, the other end of the connecting piece is fixedly connected with the electromagnetic induction coil, and the two heat compensation units are symmetrically arranged on the two sides of the forging table. The heat compensation type forging platform is easy and convenient to operate, the finish forging temperature can be adjusted, and normal work of a forging manipulator cannot be affected.

The utility model is applicable to the technical field of machining, and provides an anti-swing transmission shaft forging manipulator which comprises a main seat, a large regulation and control mechanism is arranged at the top of the main seat, a second arm rod is movably connected to the top of the main seat through the large regulation and control mechanism, and a first arm rod is movably connected to the outer wall of the second arm rod through a rotating shaft. A forging assembly is arranged at the bottom of the first arm rod and comprises two anti-deviation mechanisms fixedly arranged on the first arm rod. Through the arrangement of the anti-deviation mechanism, in the using process, the limiting base is fixed to a table top where a transmission shaft blank is placed, the transmission shaft blank is placed at the bottom of the forging head, in the process that the upper hydraulic cylinder drives the forging head to conduct forging, the positioning rod repeatedly slides along the limiting inserting hole all the time, and therefore it is guaranteed that the forging head conducts forging along a fixed track; and the influence of shaking and swinging on the forging effect is reduced, the using effect of the device is improved, and convenience is provided for a user.

The utility model is applicable to the technical field of machining, and provides a crankshaft forging manipulator with an adsorption mechanism, which comprises a base, a second connecting mechanism is arranged at the top of the base, a second arm lever is movably connected to the top of the base through the second connecting mechanism, a first connecting mechanism is arranged at one end of the second arm lever, and a second connecting mechanism is arranged at the other end of the second arm lever. One end of the second arm rod is movably connected with a first arm rod through a first connecting mechanism, and one end of the first arm rod is fixedly connected with a grabbing and clamping assembly. Wherein the grabbing and clamping assembly comprises a claw seat mechanism, and a clamping mechanism is arranged on the outer wall of the claw seat mechanism; through the arrangement of the claw seat mechanism and the arrangement of a magnetic disc in use, one end of a crankshaft forging blank can be positioned and adsorbed, so that the crankshaft forging blank is kept at a proper position at the end part when being clamped, the purpose of keeping stable and anti-falling in the clamping operation process is ensured, the use effect of the device is improved, and the practicability is high. And convenience is provided for a user.

The utility model relates to the technical field of forging manipulator equipment, in particular to a novel full-hydraulic forging manipulator. The novel full-hydraulic forging and pressing manipulator comprises a manipulator body and a supporting assembly. The manipulator body comprises a rack and a tong head; the feeding direction of the tong head is set to be a preset direction; the supporting assembly comprises a connecting plate connected with the rack, a driving assembly and a rotating supporting assembly. The rotating supporting assembly comprises a connecting piece, a rotating shaft, a first motor and at least one telescopic rod. The connecting piece is slidably connected with the driving assembly; the first motor is connected to the connecting piece, and the rotating shaft is rotatably connected to the connecting piece; the axis of the rotating shaft is perpendicular to the preset direction. The fixed end of the telescopic rod is connected with the rotating shaft, and the contracted end of the telescopic rod can abut against the forge piece. When the tong head clamps a large forge piece, especially a long-strip-shaped forge piece, the forging and pressing manipulator can provide additional supporting force for the forge piece, can be used for auxiliary supporting and is convenient to store.

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 present invention provides a forging manipulator hanging system, which includes: a main shaft, a connecting rod assembly, a hollow hanging arm, and a grate bar. The main shaft extends in the left-right direction, and the frame of the forging manipulator limits the connecting rod assembly in the left-right direction; the hollow hanging arm is sleeved on the main shaft and fixedly connected to the main shaft, and the number of grate bars is two. The two ends of the hollow hanging arm are respectively abutted on the two grate bars, and the grate bars are tightened between the end of the hollow hanging arm and the side wall of the corresponding end. The hollow hanging arm cooperates with two side arms respectively to clamp the two grate bars in the left-right direction. The problem of interference and collision between the cylinder barrel of the horizontal lifting cylinder and the forging manipulator is solved, which is conducive to extending the service life of the forging manipulator and the horizontal lifting cylinder. The problem of asynchronous lifting and skew of the hanging system is solved, so that the jaws are accurately positioned when forging forging materials, the occurrence of quality problems such as deviation is reduced, and the forging processing quality is improved.

The invention discloses an axial buffering system for a chuck of a high-frequency radial forging manipulator and a control method. The system comprises a plurality of groups of buffer plunger cylinders which are symmetrically arranged, a hydraulic power unit (comprising a variable pump and a safety valve), a pressure control unit consisting of an electro-hydraulic servo valve and a plug-in type pressure release valve, a rigid liquid tank with an adjustable volume and a pressure-displacement feedback sensor. The control method comprises two modes: compressed oil buffer control is executed under a single-machine working condition, and a hydraulic spring effect is formed through closed-loop pressure maintenance; pressure relief-pressurization control is executed under the double-machine working condition, active pressure relief and displacement absorption are conducted in the buffering stage, and hydraulic reset is driven according to a linear function attenuation signal in the reset stage. The axial buffering mechanism solves the problems that according to a mechanical plate spring type axial buffering mechanism of a traditional radial forging manipulator, a plate spring needs to be frequently replaced when the buffering rigidity is changed, large impact vibration exists in the buffering process, the reset time of a chuck is long, the service life of the buffering mechanism is short, and the feeding precision and efficiency are low.

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 utility model discloses a mounting base of a forging manipulator, which relates to the technical field of mounting bases of processing equipment, and comprises a fixing base, a lower base is fixed at the top of the fixing base, the mounting base is divided into two parts, namely a lower base and an upper base, and the lower base is positioned in an adjusting groove I; when the mounting height of the base needs to be adjusted, the upper base can be directly jacked upwards, so that the basic height of the upper base is changed to adapt to some working environments in which the mounting height of the base needs to be adjusted, and convenience is brought to work of the manipulator; the screws at the four corners of the bottom of the upper base penetrate through the second inserting holes of the lower base and are in threaded connection with nuts at the positions of the second adjusting grooves, the gravity of the mechanical arm can be shared by the screws, the nuts in threaded connection with the interiors of the second adjusting grooves can be located above the first inserting holes in the second adjusting grooves, and the effect of sharing the gravity is achieved; and the lower base and the upper base can provide better stability in the working process of the manipulator after being matched for use.

The present invention relates to a main motion mechanism of a heterogeneous double forging manipulator, which includes a frame I, a frame II, a front lifting arm I, a front lifting arm II, a rear lifting arm I, a rear lifting arm II, a synchronous connecting rod I, a synchronous connecting rod II, a front suspension rod I, a front suspension rod II, a tong rod I, a tong rod II, a lifting linear driver I, a lifting linear driver II, a buffer linear driver I, a buffer linear driver II, a pitching linear driver I, a pitching linear driver II, a buffer connecting rod and a buffer swing rod. The present invention uses a heterogeneous mechanism as the main motion mechanism of the double forging manipulator. When the two machines jointly clamp the forging, since the two buffer mechanisms are parallel to each other, the lifting trajectories of the tong rod I and the tong rod II are parallel. Therefore, the distance between the two clamps does not change with the lifting of the tong rods, effectively solving the problem of the forging being dragged during the lifting process by the homogeneous forging manipulator, thereby improving the forging quality of the forging and increasing the stability of the double forging manipulator system.

The present invention provides a manipulator of a forging manipulator, which relates to the technical field of forging processing equipment. The manipulator of the forging manipulator includes a machine base, a rotating mechanism is arranged at the center of the top of the machine base, a lifting and adjusting mechanism is fixedly connected to the top of the rotating mechanism, and a transverse telescopic mechanism is slidably installed at the front end of the lifting and adjusting mechanism; one end of the transverse telescopic mechanism away from the machine base is fixedly connected to a flipping mechanism, the output end of the flipping mechanism is fixedly connected to a clamping mechanism, and one end of the clamping mechanism is fixedly connected to a fixed fixture; a forging and forming mechanism corresponding to the fixed fixture is fixedly connected to the bottom of the clamping mechanism, and an ejecting mechanism is installed at the center of one side of the bottom of the forging and forming mechanism. By designing a flipping mechanism, a forging and forming mechanism and an ejecting mechanism integrated with the manipulator, metal forgings can complete forging processing on the manipulator, which not only ensures the processing quality, but also simplifies the processing process and improves the forging processing efficiency.

The utility model relates to the technical field of forging manipulators, in particular to a tong head structure of a manipulator, which comprises a tong seat, a pair of clamping tongs and a clamping part, the clamping pincers are movably installed at one end of the pincers base, and the clamping part is movably installed on the inner side of the other end of the clamping pincers. The mounting plate is fixedly mounted at the bottom of the clamping part; the first gear shaft is embedded in the top end of the mounting plate, an adjusting knob is fixedly mounted at one end of the first gear shaft, and the adjusting knob penetrates through the mounting plate and extends out of the mounting plate; a second gear shaft is fixedly mounted at the other end of the first gear shaft; by improving the tong head structure of the manipulator, the manipulator has the advantages of being reasonable in structural design, convenient to mount, dismount and replace after the teeth are abraded, more convenient to use, capable of clamping objects of different structures and high in practicability. Therefore, the problems and defects in the prior art and equipment are effectively solved.

The utility model discloses a traction travelling mechanism of a full-hydraulic forging manipulator, which relates to the technical field of forging manipulators and comprises a support box, two guide rails are arranged below the support box, vertical plates are fixedly connected to four corners of the bottom of the support box, and the vertical plates are fixedly connected to the bottom of the support box. A first rotating shaft is fixedly connected between every two corresponding vertical plates, the two ends of each first rotating shaft are rotationally connected with walking wheels, the walking wheels are rotationally connected to the corresponding guide rails, a sliding groove is formed in the front end of the supporting box, a support is arranged in the sliding groove in a sliding mode, and a second rotating shaft is fixedly connected to the bottom end of the support. According to the traction walking mechanism of the full-hydraulic forging manipulator, by arranging the support, the second rotating shaft, the stabilizing wheels and other structures, before the manipulator body clamps a metal weight, the support is recycled towards the interior of the supporting box, after clamping is completed, the support extends outwards, the supporting area is enlarged, and the moving stability of the manipulator body after clamping the metal weight is improved.

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 utility model relates to the technical field of forging manipulators, and discloses a flexible hanger of a full-hydraulic forging manipulator, which comprises a hydraulic forging manipulator body, a hanging support is fixedly mounted on a fixing frame on the outer side of the hydraulic forging manipulator body through bolts, and a first electric sliding rail and a second electric sliding rail are fixedly mounted at the top end of the hanging support. According to the flexible hanger of the full-hydraulic forging manipulator, the hydraulic forging manipulator can be assisted in grabbing and forging heavy-weight workpieces, the balance and stability of the hydraulic forging manipulator in the using process are improved, and therefore the forging quality is guaranteed; the hydraulic forging manipulator solves the problems that when an existing hydraulic forging manipulator is used for grabbing workpieces, the workpieces need to be directly grabbed from the ground or a platform, so that when the workpieces with large weight are grabbed, the difficulty is large, the stability is poor, and the quality of the hydraulic forging manipulator is affected when the workpieces are operated to be forged.

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.

A method for roll forging a frog rail is provided. A rectangular cross-section blank is heated before forging using a continuous induction heating furnace. A forging manipulator clamps one end of the blank and roll-forges the other end of the blank on a hydraulic roll forging machine to form a rail tip. The blank is turned around, and the forging manipulator clamps the rail tip-forming end of the blank and roll-forges the other end of the blank on a hydraulic roll forging machine to form a rail waist and a rail tail. The present invention solves the current technical problem of frog rails being unable to achieve large-scale, low-cost production. The present invention achieves high dimensional accuracy, low production costs, and a reduced number of process steps. Different rail shapes can be formed in one heat. The invention avoids bending and twisting problems, eliminates the need for straightening processes, and achieves good straightness, approaching the effect of closed-die forging. The process is simple and highly efficient.

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.

The utility model discloses an air compressor crankshaft forging manipulator capable of adjusting the distance between grippers. The air compressor crankshaft forging manipulator comprises a rotating machine. The lifting assembly is arranged at the bottom of the rotating machine and comprises a box body, one side of the box body is fixedly connected with a first motor, an output shaft of the first motor is fixedly connected with a first screw rod through a coupler, and the outer wall of the first screw rod is in threaded connection with a moving plate; the air compressor crankshaft forging manipulator capable of adjusting the distance between the grippers is provided with a second motor which can drive a second screw rod to rotate, so that the second screw rod can rotate in a sliding sleeve, and when the sliding sleeve moves, a folding rod can be driven to move, and a clamping plate can be pushed to move; and therefore, the distance between the clamping plates on the two sides can be conveniently adjusted, the distance between the two grippers can be conveniently adjusted, and the requirement for grabbing materials of different shapes and sizes can be met.

The utility model discloses a traction walking mechanism of a full-hydraulic forging manipulator, and belongs to the technical field of forging manipulators. Comprising a guide rail, a pedestal mounted above the guide rail, a driving walking wheel mounted at the front end of the bottom of the pedestal and abutted against the guide rail, a mounting cavity mounted on the upper surface of the pedestal and corresponding to the driving walking wheel, and a manipulator main body mounted on one side of the mounting cavity, connecting frames are symmetrically installed at the tail end of the bottom of the pedestal, wheel shafts are rotationally connected to the connecting frames, driven walking wheels abutting against the guide rails are installed at the two ends of each wheel shaft, and driven gears are rotationally connected to the positions, located between the connecting frames, of the outer walls of the wheel shafts. The traction walking mechanism can be quickly braked, workpieces are prevented from deviating when arriving at stations, and forging machining of the workpieces is facilitated.

The utility model relates to the technical field of mechanical forging, in particular to a tooling for a forging manipulator. Comprising a power unit, a clamping unit and a control unit, the clamping unit comprises a clamping jaw connecting part, connecting rods, a sliding guide block, a first supporting arm and a finger assembly, the ends of the connecting rods are symmetrically hinged to the periphery of the clamping jaw connecting part, and the other ends of the two connecting rods are hinged to the middle of the first supporting arm; one end of the first supporting arm is hinged to the sliding guide block, the other end of the first supporting arm is hinged to the finger assembly, the output end of the power unit is connected with the sliding guide block, and the finger assembly is provided with an inductive sensor for inducting an object and a force sensor for detecting pressure. And the inductive sensor and the force sensor are electrically connected with the control unit. And the forging requirements of complex environments can be met, the clamping force is large, and the purpose of improving the production efficiency is achieved.

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 discloses a forging manipulator device which comprises a welding base, a lifting oil cylinder is arranged on the inner side of the welding base, the output end of the lifting oil cylinder is connected with a lifting base, and the lifting base is connected with a lifting connecting flange through a bolt. The lower end of the lifting connecting flange is provided with two symmetrically-distributed guide columns and fixedly connected with the guide columns through bolts, the guide columns penetrate through the upper end face of the welding-on base, the inner side of the welding-on base and the outer sides of the guide columns are provided with guide sleeves through bolts, the guide sleeves are in sliding fit with the guide columns, and a swing mechanism is arranged above the lifting base. According to the automatic feeding and discharging device, the structure is simple, the cost is low, operation is convenient, manual work is replaced, the working efficiency is improved, and the safety coefficient is improved.

The invention provides an intelligent forging production line and a whole line trajectory planning method, and belongs to the technical field of intelligent forging. A blank making press, a forging manipulator, a die forging press, a blank heating furnace, a secondary heating furnace, a blank placing area, a workpiece placing area and a die heating furnace are arranged around the moving guide rail. According to the method, whole-line trajectory planning is conducted on the intelligent forging production line, time distribution and total time limitation of each working procedure are determined, a main program is optimized by executing whole-line time distribution, time distribution of all sub-stages of the whole forging production line is planned, and operation space and joint space of the forging transfer robot are planned. Therefore, by optimizing the movement conditions and carrying tracks of all the joints, automation, unmanned operation and intelligentization of the forging production process are achieved, and the operation stability and production efficiency of the whole forging production line are improved.

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.