WO2002087805A1 - A track-independent wheeled forging manipulator - Google Patents

A track-independent wheeled forging manipulator Download PDF

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Publication number
WO2002087805A1
WO2002087805A1 PCT/CN2002/000293 CN0200293W WO02087805A1 WO 2002087805 A1 WO2002087805 A1 WO 2002087805A1 CN 0200293 W CN0200293 W CN 0200293W WO 02087805 A1 WO02087805 A1 WO 02087805A1
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WIPO (PCT)
Prior art keywords
workbench
swing
box body
electric hoist
forging manipulator
Prior art date
Application number
PCT/CN2002/000293
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French (fr)
Chinese (zh)
Inventor
Jianyu Ji
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Jianyu Ji
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Publication date
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Publication of WO2002087805A1 publication Critical patent/WO2002087805A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J13/00—Details of machines for forging, pressing, or hammering
    • B21J13/08—Accessories for handling work or tools
    • B21J13/10—Manipulators

Definitions

  • the utility model relates to a forging machine, in particular to a trackless forging manipulator. Background technique
  • Existing forging manipulators generally have three parts: a cart chassis, a workbench and a jaw mechanism.
  • the jaw mechanism of this forging manipulator cannot be moved back and forth, and the forgings need to be frequently performed on the anvil.
  • the back and forth movement can only be completed by the forging manipulator as a whole.
  • the mass of the forging manipulator is relatively large, it needs to be equipped with a higher power motor, which consumes large power.
  • due to its large mass and inertia during movement Larger, correspondingly, its movement speed is slower, resulting in a slow working rhythm of the forging manipulator. This is a major disadvantage for forging while the iron is hot.
  • the purpose of the utility model is to provide a railless forging manipulator which can not only rotate, lift, and automatically move up and down, but also can move forward and backward. It can make various forgings arbitrarily set on the anvil. The point is the center of the circle to rotate and move left and right.
  • the task of the utility model is completed in this way, which includes a walking chassis of a cart, a clamp lever mechanism, and a workbench frame.
  • the shafts are respectively placed in the bearings on the left and right side plates of the swing lever support box, and the left and right push blocks are slidably fitted in vertical grooves on both sides of the swing support box and fixed to the workbench with the rear side thereof.
  • the two oil cylinder piston rods on the frame are connected, and two parallel long axes fixed on the workbench frame are slidably fitted into the holes in the upper part of the left and right push blocks, and the upper part of the left push block protrudes inward with a horizontal bar and an electric hoist
  • an I-beam is fixed on the lower surface of the upper support plate of the workbench, and two front and rear electric hoists are fixedly connected to each other.
  • the wire rope on the front electric hoist drum is connected to the front of the jaw box.
  • the two wire ropes on the rear electric hoist reel are connected to the swing lever support box body of the clamp bar box.
  • Steering wheel forks on the left and right sides of the clamp bar box body are in contact with the inner surfaces of the left and right support wall plates of the workbench.
  • a large slewing bearing is fixed below the support plate under the work platform and connected to the traveling chassis of the cart.
  • the large slewing bearing The ring gear meshes with the pinion of the drive.
  • the pliers lever mechanism of the present invention not only has the functions of rotation and lifting, but also has the functions of automatic tilting up and down, forward and backward movement, and rotation and right and left around any point on the anvil.
  • FIG. 1 is a schematic structural diagram of a left supporting wall plate of a workbench according to the present invention.
  • FIG. 2 is a cross-sectional view of A—A and B—B of FIG. 1.
  • FIG. 3 is a schematic diagram of the rotation of the pincer bar of the present invention around the center of the anvil at point 0.
  • FIG. 3 is a schematic diagram of the rotation of the pincer bar of the present invention around the center of the anvil at point 0.
  • the present invention is a trackless forging operation machine.
  • the chassis of the cart is provided with front wheels 1 and rear wheels 2, and front axles are provided with slewing bearings 3.
  • a large slewing bearing 4 is connected on the lower support plate 5 of the workbench frame to the traveling chassis of the cart.
  • the workbench frame has a clamp rod swing support box 8 which is provided with bearing seats and The shafts of the two sides of the center of gravity of the caliper box 6 are connected.
  • the right push block 9 is slidably fitted into the vertical grooves on the left and right plates of the jaw swing box 8 respectively, and is connected to the piston rod of the oil cylinder 11 fixed on the work bench at the rear side.
  • Two parallel long axes 10 fixedly connected to the workbench are placed on the left.
  • a linear bearing is provided in the push block hole, and there is an inwardly extending crossbar connected to the rear electric hoist door, and a work is provided on the lower surface of the upper support plate of the workbench.
  • the steel beam 13 is provided with front and rear 3 ⁇ 4 electric hoists 15, 12; a connecting plate 14 connects the front and rear electric hoists into a whole; a wire rope on the drum of the front electric hoist 15 and the clamp rod box 6 The front part is connected, and the two wire ropes on the reel of the rear electric hoist 12 are connected with the swing bar supporting box body.
  • the working principle of the utility model is that the clamp lever box is supported in the bearings of the clamp lever swing support box 8 through the shafts on both sides, and is suspended by a front and rear electric hoist in the workbench frame; the clamp lever can be in its box In vivo
  • the clamp lever is pivoted up and down by raising or lowering the front electric hoist.
  • the electric hoist is raised or lowered simultaneously to make it move up or down, and the two oil cylinders are moved synchronously to make it move back and forth.
  • the slewing motion of the frame or the back and forth motion of the cart's walking chassis makes the clamp lever move left and right on the anvil.
  • the utility model can make forgings rotate at any point 0 on the anvil as the center of the circle.
  • the principle and operation method are shown in Fig. 3, which drives the cart to travel on the chassis, so that the extension line of the rear wheel axle passes through the plane of the anvil. 0 point, and then drive the slewing bearing 3 to rotate, so that the extension line of the front wheel shaft passes through the 0 point on the anvil, and finally adjust the length and angle of the jaw rod so that the center of the forged piece held by the jaw coincides with the 0 point.
  • the cart can be driven to travel on the chassis, and the forging is rotated around the 0 point on the anvil plane.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)
  • Manipulator (AREA)

Abstract

A track-independent wheeled forging manipulator, it comprises a walking chassis, a peel assembly and a working carriage, wherein a shaft at both sides of a peel casing is mounted in a bearing provided in a swing support trunk of the working carriage, the peel casing and the swing support trunk are impended over in the working carriage by a front and a rear electric chain hoist, a driving block sliding on the swing support trunk is linked to a piston rod of a oil cylinder on the working carriage. Front wheels of the walking chassis are directive wheels. The working carriage and the walking chassis are connected by a turning bearing. The utility models has the advantage of moving forwards and backwards of the peel, besides, the manipulator can turn around a forming saddle.

Description

无轨式锻造操作机 技术领域  Trackless forging manipulator TECHNICAL FIELD
本实用新型涉及一种锻造机械， 特别是一种无轨式锻造操作机。 背景技术  The utility model relates to a forging machine, in particular to a trackless forging manipulator. Background technique
现有的锻造操作机， 一般都具有大车行走底盘， 工作台架和钳杆机构三 个部分， 这种锻造操作机的钳杆机构不能作前后移动， 而锻件在砧座上需要 频繁地进行前后移动， 只能由锻造操作机整件作前后运动来完成， 由于锻造 操作机的质量比较大， 因此需要配置较大功率的电机， 消耗功率大， 同时， 由于其质量大， 运动时的惯性较大， 相应地其运动速度较慢， 造成锻造操作 机的工作节奏缓慢， 这对于趁热打铁的锻造来说是个重大的缺点， 另外， 锻 造操作机的钳杆不能随锻件的高度变化自动作上下倾斜运动， 锻造操作机在 对圆饼、 方块和长轴类锻件进行锻造时， 需要锻件在砧座上不断地转动， 但 现有锻造操作机不能完成这种动作。 发明概述  Existing forging manipulators generally have three parts: a cart chassis, a workbench and a jaw mechanism. The jaw mechanism of this forging manipulator cannot be moved back and forth, and the forgings need to be frequently performed on the anvil. The back and forth movement can only be completed by the forging manipulator as a whole. Because the mass of the forging manipulator is relatively large, it needs to be equipped with a higher power motor, which consumes large power. At the same time, due to its large mass and inertia during movement Larger, correspondingly, its movement speed is slower, resulting in a slow working rhythm of the forging manipulator. This is a major disadvantage for forging while the iron is hot. In addition, the tong bar of the forging manipulator cannot automatically tilt up and down with the height of the forging. Movement, forging manipulators need to continuously rotate the forgings on the anvil when forging wafers, cubes and long shaft forgings, but the existing forging manipulators cannot complete this action. Summary of invention
本实用新型的目的是提供一种钳杆机构不仅能作旋转、 升降和自动上下 倾斜运动， 还能作前后运动的无轨式锻造操作机， 它能使各类锻件在砧座上 绕任意设定点为圆心进行转动和左右移动的功能。  The purpose of the utility model is to provide a railless forging manipulator which can not only rotate, lift, and automatically move up and down, but also can move forward and backward. It can make various forgings arbitrarily set on the anvil. The point is the center of the circle to rotate and move left and right.
本实用新型的任务是这样完成的， 它包括大车行走底盘， 钳杆机构和工 作台架， 其特征在于： 工作台架内有钳杆摆转支撑箱体， 钳杆箱体两侧各有 一轴分别置于钳杆摆转支撑箱体的左右侧板上的轴承内， 左右推动块分别滑 动配合在摆转支撑箱体两侧板上的竖直凹槽内并与其后侧固定在工作台架上 的两个油缸活塞杆连接， 固定在工作台架上的两个平行的长轴分别滑动配合 在左右推动块上部的孔内， 左推动块的上部向内伸出一横杆与电动葫芦连接， 工作台架的上支撑板下表面上固定一工字型梁， 其上设有彼此固定连接的前 后两个电动葫芦， 前电动葫芦卷筒上的钢丝绳与钳杆箱体的前部连接， 后电 动葫芦卷筒上的两根钢丝绳与钳杆摆转支撑箱体连接， 钳杆箱体左右两侧的 前后设有转向轮叉与工作台架的左右支撑墙板的内表面接触。 在工作台架下 支撑板的下方固定一大型回转轴承与大车行走底盘相连接， 该大型回转轴承 的齿圈与驱动装置的小齿轮啮合。 The task of the utility model is completed in this way, which includes a walking chassis of a cart, a clamp lever mechanism, and a workbench frame. The shafts are respectively placed in the bearings on the left and right side plates of the swing lever support box, and the left and right push blocks are slidably fitted in vertical grooves on both sides of the swing support box and fixed to the workbench with the rear side thereof. The two oil cylinder piston rods on the frame are connected, and two parallel long axes fixed on the workbench frame are slidably fitted into the holes in the upper part of the left and right push blocks, and the upper part of the left push block protrudes inward with a horizontal bar and an electric hoist For connection, an I-beam is fixed on the lower surface of the upper support plate of the workbench, and two front and rear electric hoists are fixedly connected to each other. The wire rope on the front electric hoist drum is connected to the front of the jaw box. The two wire ropes on the rear electric hoist reel are connected to the swing lever support box body of the clamp bar box. Steering wheel forks on the left and right sides of the clamp bar box body are in contact with the inner surfaces of the left and right support wall plates of the workbench. A large slewing bearing is fixed below the support plate under the work platform and connected to the traveling chassis of the cart. The large slewing bearing The ring gear meshes with the pinion of the drive.
本实用新型由于在工作台架内设置了一个由油缸带动可作前后运动的钳 杆摆转支撑箱体， 同时， 大车行走底盘的前轮可以转向而工作台架与底盘间 也采取了回转支撑， 因此， 本实用新型的钳杆机构不仅具有旋转、 升降的功 能， 还具有自动上下倾斜和前后运行以及绕砧座上任何点为圆心进行转动和 左右的功能。 附图简介  Since the utility model is provided with a clamp rod swinging support box which can be moved forward and backward by an oil cylinder in the working platform, at the same time, the front wheels of the traveling chassis of the cart can be turned and the rotation between the working platform and the chassis is also adopted. Therefore, the pliers lever mechanism of the present invention not only has the functions of rotation and lifting, but also has the functions of automatic tilting up and down, forward and backward movement, and rotation and right and left around any point on the anvil. Brief Introduction
图 1是本实用新型拆去工作台架左支撑墙板的结构示意图。  FIG. 1 is a schematic structural diagram of a left supporting wall plate of a workbench according to the present invention.
图 2是图 1的 A— A和 B— B剖示图。  FIG. 2 is a cross-sectional view of A—A and B—B of FIG. 1. FIG.
图 3是本实用新型的钳杆绕砧座上 0点为圆心转动原理图。  FIG. 3 is a schematic diagram of the rotation of the pincer bar of the present invention around the center of the anvil at point 0. FIG.
图面说明： 1.前轮 2.后轮 3.回转轴承 4.大型回转轴承 5.下支撑板 Description of drawings: 1. Front wheel 2. Rear wheel 3. Slewing bearing 4. Large slewing bearing 5. Lower support plate
6.钳杆箱体 7.转向轮叉 8.钳杆摆转支撑箱体 9.左推动块 10.长轴 11.油缸6. Clamp lever case 7. Steering wheel fork 8. Clamp lever swing support case 9. Left push block 10. Long shaft 11. Cylinder
12.后电动葫芦 13.工字型梁 14.连接板 15.前电动葫芦 实施发明的最佳方式 12. Rear electric hoist 13. I-beam 14. Connecting plate 15. Front electric hoist The best way to implement the invention
结合以上附图对本实用新型的实施例作详细说明， 本实用新型是一种无 轨式锻造操作机， 大车行走底盘上设有前轮 1和后轮 2， 前轴上设有回转轴承 3， 在工作台架的下支撑板 5上有一大型回转轴承 4与大车行走底盘连接， 工 作台架内有一个钳杆摆转支撑箱体 8， 该箱体的两侧板上设有轴承座与钳杆箱 体 6 重心处两侧的轴连接， 钳杆箱 6 两侧的前部和后部各有两个转向轮叉 7 与工作台架的左、 右支撑墙板的内表面接触， 左、 右推动块 9 分别滑动配合 在钳杆摆转箱体 8 的左、 右侧板上的竖直凹槽中， 并且与其后侧的固定在工 作台架上的油缸 11 的活塞杆相连接， 与工作台架固定连接的两个平行的长轴 10 置于左。 右推动块 9 上部的孔内， 推动块的孔内设有直线轴承， 其上都有 一向内伸出的横杆与后电动葫芦门连接， 工作台架的上支撑板下表面上设有 一工字钢梁 13， 其上设有前后 ¾个电动葫芦 15、 12， 连接板 14 将前、 后电 动葫芦连成一整体， 前电动葫芦 15 的卷筒上的一根钢丝绳与钳杆箱体 6 的前 部连接， 后电动葫芦 12的卷筒上的两根钢丝绳与钳杆摆转支撑箱体连接。  The embodiments of the present invention will be described in detail with reference to the above drawings. The present invention is a trackless forging operation machine. The chassis of the cart is provided with front wheels 1 and rear wheels 2, and front axles are provided with slewing bearings 3. A large slewing bearing 4 is connected on the lower support plate 5 of the workbench frame to the traveling chassis of the cart. The workbench frame has a clamp rod swing support box 8 which is provided with bearing seats and The shafts of the two sides of the center of gravity of the caliper box 6 are connected. There are two steering wheel forks 7 on the front and rear sides of the caliper box 6 that are in contact with the inner surfaces of the left and right support wall plates of the workbench. The right push block 9 is slidably fitted into the vertical grooves on the left and right plates of the jaw swing box 8 respectively, and is connected to the piston rod of the oil cylinder 11 fixed on the work bench at the rear side. Two parallel long axes 10 fixedly connected to the workbench are placed on the left. In the upper hole of the right push block 9, a linear bearing is provided in the push block hole, and there is an inwardly extending crossbar connected to the rear electric hoist door, and a work is provided on the lower surface of the upper support plate of the workbench. The steel beam 13 is provided with front and rear ¾ electric hoists 15, 12; a connecting plate 14 connects the front and rear electric hoists into a whole; a wire rope on the drum of the front electric hoist 15 and the clamp rod box 6 The front part is connected, and the two wire ropes on the reel of the rear electric hoist 12 are connected with the swing bar supporting box body.
本实用新型的工作原理是， 钳杆箱俐通过两侧的轴支撑在钳杆摆转支撑 箱体 8 的轴承内， 由前后的电动葫芦悬吊在工作台架中； 钳杆可在其箱体内 作翻转动作， 通过前电动葫芦的升或降使钳杆作上下摆转. 前后电动葫芦同 步升或降使其作上升或下降运动， 由两个油缸同步动作使其作前后移动， 由 工作台架的回转运动或大车行走底盘的前后运动， 使钳杆在砧座上作左右移 动。 The working principle of the utility model is that the clamp lever box is supported in the bearings of the clamp lever swing support box 8 through the shafts on both sides, and is suspended by a front and rear electric hoist in the workbench frame; the clamp lever can be in its box In vivo For the flipping action, the clamp lever is pivoted up and down by raising or lowering the front electric hoist. The electric hoist is raised or lowered simultaneously to make it move up or down, and the two oil cylinders are moved synchronously to make it move back and forth. The slewing motion of the frame or the back and forth motion of the cart's walking chassis makes the clamp lever move left and right on the anvil.
本实用新型可以使锻件在砧座上统任意一点 0 为圆心作转动， 其原理和 操作方法如图 3 所示， 驱动大车行走底盘行走， 使其后轮轴的延长线通过砧 座平面上的 0 点， 然后驱动回转轴承 3 转动， 使前轮轴的延长线通过砧座上 的 0点， 最后调整钳杆的长度和角度， 使钳爪夹持的锻件的中心与 0点重合。 此时， 即可驱动大车行走底盘行走， 带动锻件以砧座平面上的 0 点为圆心进 行转动。  The utility model can make forgings rotate at any point 0 on the anvil as the center of the circle. The principle and operation method are shown in Fig. 3, which drives the cart to travel on the chassis, so that the extension line of the rear wheel axle passes through the plane of the anvil. 0 point, and then drive the slewing bearing 3 to rotate, so that the extension line of the front wheel shaft passes through the 0 point on the anvil, and finally adjust the length and angle of the jaw rod so that the center of the forged piece held by the jaw coincides with the 0 point. At this time, the cart can be driven to travel on the chassis, and the forging is rotated around the 0 point on the anvil plane.

Claims

权利要求书 Claim
1. 无轨式锻造操作机， 它包括大车行走底盘、 钳杆机构和工作台架， 其 特征在于； 工作台架内有钳杆摆转支撑箱体， 钳杆箱体两侧各有一轴分别置 于钳杆摆转支撑箱体的左右侧板上的轴承内， 左右推动块分别滑动配合在摆 转支撑箱体两侧板上的竖直凹槽内并与其后侧固定在工作台架上的两个铀缸 活塞杆连接， 固定在工作台架上的两个平行的长轴分别滑动配合在左右推动 块上部的孔内， 其中一推动块的上部向内伸出一横杆与电动葫芦连接， 工作 台架的上支撑板下表面上固定一工字型梁， 其上设有彼此固定连接的前后两 个电动葫芦， 前电动葫芦卷筒上的钢丝绳与钳杆箱体的前部连接， 后电动葫 芦卷筒上的两根钢丝绳与钳杆摆转支撑箱体连接， 箱体左右两侧的前后设有 转向轮叉与工作台架的左右支撑墙板的内表面接触。 1. Railless forging manipulator, which includes a cart walking chassis, a clamp lever mechanism and a workbench frame, which is characterized by: There are clamp lever swing support boxes in the workbench frame, and there are two axes on each side of the clamp lever box. It is placed in the bearings on the left and right side plates of the swing lever support box body, and the left and right push blocks are slidably fitted in the vertical grooves on both sides of the swing support box body and fixed to the workbench with the rear side thereof The two uranium cylinder piston rods are connected, and two parallel long axes fixed on the working platform are slidably fitted into the holes in the upper part of the left and right push blocks, one of the push blocks has an inwardly protruding bar and an electric hoist. For connection, an I-beam is fixed on the lower surface of the upper support plate of the workbench, and two front and rear electric hoists are fixedly connected to each other. The wire rope on the front electric hoist drum is connected to the front of the jaw box. The two wire ropes on the rear electric hoist reel are connected to the swing bar supporting box body. Steering wheel forks on the left and right sides of the box body are in contact with the inner surfaces of the left and right supporting wall plates of the workbench.
2. 根据权利要求 1 所述的无轨式锻造操作机， 其特征在于； 在工作台架 下支撑板的下方固定一大型回转轴承与大车行走底盘相连接； 该大型回转轴 承的齿圈与驱动装置的小齿轮啮合。  2. The trackless forging manipulator according to claim 1, characterized in that: a large slewing bearing is fixed below the support plate under the workbench and connected to the traveling chassis of the cart; the ring gear and the drive of the large slewing bearing The pinion of the device meshes.
PCT/CN2002/000293 2001-04-28 2002-04-26 A track-independent wheeled forging manipulator WO2002087805A1 (en)

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CN01239931U CN2476368Y (en) 2001-04-28 2001-04-28 Trackless forging manipulator
CN01239931.0 2001-04-28

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Publication number Priority date Publication date Assignee Title
CN100342995C (en) * 2005-10-13 2007-10-17 上海交通大学 Six-dimensional parallel forging operator
CN100335197C (en) * 2005-11-17 2007-09-05 上海交通大学 Double-ball joint telescopic six-dimensional parallel forging operation machine
CN101607296B (en) * 2009-07-23 2010-12-08 上海交通大学 Upper connecting rod forward-only connecting type forging manipulator

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US4420287A (en) * 1980-05-24 1983-12-13 Sms Schloemann-Siemag Aktiengesellschaft Gripper feed and gripper resilience cylinders on forging manipulators
US4815311A (en) * 1986-07-31 1989-03-28 Sms Hasenclever Maschinenfabrik Gmbh Forging manipulator
US4961336A (en) * 1987-03-03 1990-10-09 Davy Mckee (Sheffield) Limited Manipulator for metal ingots
CN2104088U (en) * 1991-06-20 1992-05-13 蒋志高 No-rail feeding manipulators for forging heating

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3631996A (en) * 1970-06-11 1972-01-04 Alliance Machine Co Manipulator
US3841139A (en) * 1971-03-16 1974-10-15 Langenstein & Schemann Ag Method and apparatus for the forming of a long workpiece
US4420287A (en) * 1980-05-24 1983-12-13 Sms Schloemann-Siemag Aktiengesellschaft Gripper feed and gripper resilience cylinders on forging manipulators
US4815311A (en) * 1986-07-31 1989-03-28 Sms Hasenclever Maschinenfabrik Gmbh Forging manipulator
US4961336A (en) * 1987-03-03 1990-10-09 Davy Mckee (Sheffield) Limited Manipulator for metal ingots
CN2104088U (en) * 1991-06-20 1992-05-13 蒋志高 No-rail feeding manipulators for forging heating

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