21 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 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 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 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 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 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.

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.

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 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.

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.

The invention relates to the technical field of robot automation, in particular to an automatic ink supply system for a forging manipulator, which comprises a hollow shielding box, an ink supply device, an ink supply device and an ink supply device, the liquid storage box is located in an inner cavity of the shielding box and connected with the shielding box, and a liquid storage cavity is formed in the liquid storage box; the stirring blade is located in the liquid storage cavity, and a rotating gap is reserved between the stirring blade and the inner wall of the liquid storage tank; the rotation driving unit is used for driving the stirring blades to rotate, and the rotation driving unit is connected with the shielding box and the stirring blades; the pumping unit is used for pumping the lubricant in the liquid storage tank, the pumping unit is connected with the shielding tank, and a liquid inlet of the pumping unit is located in the liquid storage cavity; the method has the effect of reducing the influence of the front and back concentration change of the graphite emulsion on the forging and pressing lubricating effect due to the precipitation of the graphite particles after standing.

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.