CN102728763A - Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator - Google Patents
Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator Download PDFInfo
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- CN102728763A CN102728763A CN2012101820846A CN201210182084A CN102728763A CN 102728763 A CN102728763 A CN 102728763A CN 2012101820846 A CN2012101820846 A CN 2012101820846A CN 201210182084 A CN201210182084 A CN 201210182084A CN 102728763 A CN102728763 A CN 102728763A
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Abstract
A lifting mechanism of a rear suspension rod-inclined oscillating lever type forging manipulator is mainly characterized in that the front part and the rear part of a nipping lever are respectively connected with the lower ends of a front suspension rod and a rear suspension rod by ball hinges respectively, the upper ends of the front and rear suspension rods are connected with the lower ends of two connecting pieces by rotating hinges, the upper ends of the two connecting pieces are connected on front and rear sliding rods by rotating hinges respectively, two ends of the front and rear sliding rods are provided with left and right linear drivers respectively, the two pairs of the drivers are connected with one ends of front and rear lifting arms, the other ends of the front and rear lifting arms are connected with a rack by rotating hinges; another front and rear lifting arms are connected with the upper ends of front and rear linear lifting drivers by ball hinges, and the lower ends of the front and rear drivers are connected on the rack by ball hinges. The lifting mechanism can realize lifting, pitching, translation, oscillation and front and back and left and right cushion movement needed by forging operation, and is simple and compact in structure and large in bearing capacity.
Description
Technical field
The present invention relates to a kind of forging manipulator of hydraulic forging press group, particularly its hoisting mechanism.
Background technology
Forging manipulator is as the important auxiliary equipment of hydraulic forging press group, and the raising of forging process for fuel quality and unit equipment production efficiency is played crucial effects.In general, forging manipulator need realize comprising seven forging operation functions such as jaw clamping, claw beam rotation, claw beam up-down, claw beam pitching, claw beam are traversing, claw beam swing, large vehicle walking.Wherein, jaw clamps, claw beam rotation, three actions of large vehicle walking are separate on the structure, and respectively by motor or hydraulic cylinder drive, clamp is realized the clamping and the spinfunction of workpiece, and cart is born walking function, and remaining action is realized by hoisting mechanism.Use at present more widely large-tonnage forging manipulator form that two kinds in parallel rod formula mechanism and rocking lever formula mechanism arranged.Wherein the suspended portion of rocking lever formula large-tonnage forging manipulator adopts parallel 4-SS mechanism (S representes ball pivot) mostly; Like Chinese patent 200810037835.9,200910055222.2 etc.; These manipulators are because the front and rear suspension part all contains horizontal redundant degree of freedom; So horizontal buffering hydraulic cylinder must place the claw beam middle part, causes it in the wide range that frame inner wall need move, and has strengthened the complex structure degree of frame.In addition, these manipulators contain a plurality of horizontal redundant degree of freedom, the uncertainty of having moved when having increased the claw beam transverse movement.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, compactness and the big inclined rear suspension rods rocking lever formula forging manipulator lifting mechanism of bearing capacity.
The present invention realizes through following technical scheme; The present invention includes lifting device, swing device, front and back buffer unit, left and right sides buffer unit and frame; Wherein swing device and be installed in lifting device top, claw beam is installed in the lifting device bottom, and the front end of front and back buffer unit is connected the front overhang peg middle part of lifting device; The rear end links to each other with frame, and left and right sides buffer unit is installed between two front overhang pegs.
Described lifting device comprises: up-down linear actuator behind claw beam, two front overhang pegs, two preceding connectors, the linear actuator that goes up and down before two, preceding lift arm, preceding slide bar, movable stand, two rear suspension rods, two rear connectors, back lift arm, back slide bar and two.Wherein, Claw beam upper forepart and the rear portion that links to each other with clamp is respectively equipped with perpendicular front support rod that links to each other and back stay; Its front support rod two ends are connected with two front overhang peg lower ends through ball pivot respectively; Two front overhang peg upper ends are connected the lower end of two preceding connectors respectively through turning joint, slide bar both sides before two preceding connector upper ends are connected through turning joint respectively, and a preceding left and right sides linear actuator is respectively established at these preceding slide bar two ends; Each links to each other this two driver with an end of a preceding lift arm, and the two isometric and parallel preceding lift arm other ends link to each other with frame through turning joint respectively.The lift arm middle part links to each other with preceding up-down linear actuator upper end through ball pivot respectively before two, and this two drivers lower end is connected on the frame through ball pivot respectively.Claw beam back stay two ends are connected with two rear suspension rods lower ends through ball pivot respectively; Two also symmetrical rear suspension rods upper ends that tilt are connected the lower end of two rear connectors respectively through turning joint; Two rear connectors upper ends are connected slide bar both sides, back through turning joint respectively; Left and right sides linear actuator after these slide bar two ends, back are respectively established one; This two driver each with one after an end of lift arm link to each other, the two isometric and parallel back lift arm other ends pass through turning joint respectively and link to each other with frame.Link to each other with back up-down linear actuator upper end through ball pivot respectively at lift arm middle part, two backs, this two drivers lower end is connected on the frame through ball pivot respectively.Horizontal direction is arranged before and after the turning joint axis of two front overhang pegs of described connection and two preceding connectors, two rear suspension rods and two rear connectors, and the equal left and right horizontal direction of described all the other turning joint axis is arranged.Going up and down before described two, the up-down linear actuator all is symmetrically arranged behind linear actuator, two front overhang pegs, two preceding connectors, two rear connectors and two.
The described device that swings comprises: left and right sides linear actuator and back slide bar behind two the preceding left and right sides linear actuators, preceding slide bar, two; Wherein: two preceding left and right sides linear actuator left-right symmetric distribute; Its tache motorice withstands on preceding slide bar two ends respectively, and stiff end is connected in preceding lift arm both sides respectively, after two left and right sides linear actuator also left-right symmetric distribute; Its tache motorice withstands on slide bar two ends, back respectively, and stiff end is connected in lift arm both sides, back respectively.
Described front and back buffer unit comprises: buffering linear actuator and coordination bar before and after two.The buffering linear actuator is symmetrically arranged before and after two, and front end is connected two front overhang peg middle parts with ball pivot respectively, and the rear end is connected through ball pivot respectively and coordinates the bar two ends, and the turning joint that the coordination bar is arranged through the axis normal direction is connected on the frame.
Described left and right sides buffer unit comprises: about buffering linear actuator and movable stand.About the buffering linear actuator be connected on the claw beam through connecting rod, the tache motorice of its left and right sides withstands on respectively on the inwall parallel with the front overhang peg of movable stand both sides.This movable stand part parallel with driver links to each other with sleeve pipe on the preceding slide bar through connecting rod, and this sleeve pipe can be followed movable stand move left and right on preceding slide bar.
Each motion of forging operation is independently accomplished by each device of this forging manipulator respectively.Wherein go up and down with elevating movement by up-down linear actuator completion behind up-down linear actuator before two and two.Lift arm before the up-down linear actuator promotes before two, slide bar and movable stand and then drive two preceding connectors and two front overhang pegs are synchronized with the movement up and down before driving; The up-down linear actuator promotes the back lift arm after two, drives the back slide bar and then drives two rear connectors and two rear suspension rods are synchronized with the movement up and down.When two forward and backward up-down linear actuator synchronization liftings, claw beam is done elevating movement; When two asynchronous up-downs of forward and backward up-down linear actuator, claw beam is done elevating movement.Traversing and oscillating motion are accomplished by left and right sides linear actuator behind two preceding left and right sides linear actuators and two.Slide bar moved before two preceding left and right sides linear actuators promoted, and drove movable stand, two preceding connectors and two front overhang pegs, realized transverse movement from the anterior claw beam that drives of claw beam; Slide bar moved after left and right sides linear actuator promoted after two, drove two rear connectors and two rear suspension rods, drove claw beam from the claw beam rear portion and realized transverse movement.Consistent and big or small when identical when two forward and backward left and right sides linear actuator driving directions, claw beam is realized transverse motion; When two forward and backward left and right sides linear actuator driving directions opposite or drive amount not simultaneously, claw beam is realized oscillating motion.Start in quicken, stop decelerating phase and the forging process for fuel process at cart,, realize the kicking motion that claw beam adapts to front and back sudden change external force through the passive stretching motion of two front and back buffering linear actuators.When horizontal sudden change external force act on the claw beam make about the suffered axial force of buffering linear actuator when reaching the driver preset value; About two motion parts of the buffering linear actuator left and right sides can at random move; Outer force urges movable stand and forward mounting part are whole mobile on preceding slide bar; When external force disappeared, movable stand and forward mounting part can be got back to original position under the gravity effect, thereby realized the kicking motion that claw beam adapts to horizontal sudden change external force.
The present invention can not only realize up-down that forging operation needs, pitching, traversing, swing and front and back and left and right sides kicking motion, and simple in structure, compact, and bearing capacity is big.Compare with existing rocking lever formula large-tonnage forging manipulator; Suspended portion links to each other with the claw beam rear portion with the rear suspension rods of two inclination symmetric arrangement behind this inclined rear suspension rods rocking lever formula manipulator; Reduce horizontal redundant degree of freedom, made structure compact more; Horizontal buffering hydraulic cylinder places between two front overhang pegs, and range of movement is little, has simplified rack construction greatly.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the present invention.
Among the figure: 1, back lift arm, 2, the back slide bar, 3, back left and right sides linear actuator, 4, frame, 5, preceding lift arm; 6, preceding slide bar, 7, preceding left and right sides linear actuator, 8, preceding connector, 9, preceding up-down linear actuator, 10, movable stand; 11, front overhang peg, 12, about cushion linear actuator, 13, claw beam, 14, rear suspension rods; 15, front and back bufferings linear actuator, 16, rear connectors, 17, coordinate bar, 18 back up-down linear actuators.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
In the three-dimensional simplified schematic diagram of a kind of inclined rear suspension rods rocking lever formula forging manipulator lifting mechanism shown in Figure 1; Swing device and be installed in lifting device top; Claw beam is installed in the lifting device bottom; The front end of front and back buffer unit is connected the front overhang peg middle part of lifting device, and the rear end links to each other with frame, and left and right sides buffer unit is installed between two front overhang pegs.
Described lifting device comprises: up-down linear actuator behind claw beam, two front overhang pegs, two preceding connectors, the linear actuator that goes up and down before two, preceding lift arm, preceding slide bar, movable stand, two rear suspension rods, two rear connectors, back lift arm, back slide bar and two.Wherein, Claw beam upper forepart and the rear portion that links to each other with clamp is respectively equipped with perpendicular front support rod that links to each other and back stay; Its front support rod two ends are connected with two front overhang peg lower ends through ball pivot respectively; Two front overhang peg upper ends are connected the lower end of two preceding connectors respectively through turning joint, slide bar both sides before two preceding connector upper ends are connected through turning joint respectively, and a preceding left and right sides linear actuator is respectively established at these preceding slide bar two ends; Each links to each other this two driver with an end of a preceding lift arm, and the two isometric and parallel preceding lift arm other ends link to each other with frame through turning joint respectively.The lift arm middle part links to each other with preceding up-down linear actuator upper end through ball pivot respectively before two, and this two drivers lower end is connected on the frame through ball pivot respectively.Claw beam back stay two ends are connected with two rear suspension rods lower ends through ball pivot respectively; Two also symmetrical rear suspension rods upper ends that tilt are connected the lower end of two rear connectors respectively through turning joint; Two rear connectors upper ends are connected slide bar both sides, back through turning joint respectively; Left and right sides linear actuator after these slide bar two ends, back are respectively established one; This two driver each with one after an end of lift arm link to each other, the two isometric and parallel back lift arm other ends pass through turning joint respectively and link to each other with frame.Link to each other with back up-down linear actuator upper end through ball pivot respectively at lift arm middle part, two backs, this two drivers lower end is connected on the frame through ball pivot respectively.Horizontal direction is arranged before and after the turning joint axis of two front overhang pegs of described connection and two preceding connectors, two rear suspension rods and two rear connectors, and the equal left and right horizontal direction of described all the other turning joint axis is arranged.Going up and down before described two, the up-down linear actuator all is symmetrically arranged behind linear actuator, two front overhang pegs, two preceding connectors, two rear connectors and two.
The described device that swings comprises: left and right sides linear actuator and back slide bar behind two the preceding left and right sides linear actuators, preceding slide bar, two; Wherein: two preceding left and right sides linear actuator left-right symmetric distribute; Its tache motorice withstands on preceding slide bar two ends respectively, and stiff end is connected in preceding lift arm both sides respectively, after two left and right sides linear actuator also left-right symmetric distribute; Its tache motorice withstands on slide bar two ends, back respectively, and stiff end is connected in lift arm both sides, back respectively.
Described front and back buffer unit comprises: buffering linear actuator and coordination bar before and after two.The buffering linear actuator is symmetrically arranged before and after two, and front end is connected two front overhang peg middle parts with ball pivot respectively, and the rear end is connected through ball pivot respectively and coordinates the bar two ends, and the turning joint that the coordination bar is arranged through the axis normal direction is connected on the frame.
Described left and right sides buffer unit comprises: about buffering linear actuator and movable stand.About the buffering linear actuator be connected on the claw beam through connecting rod, the tache motorice of its left and right sides withstands on respectively on the inwall parallel with the front overhang peg of movable stand both sides.This movable stand part parallel with driver links to each other with sleeve pipe on the preceding slide bar through connecting rod, and this sleeve pipe can be followed movable stand move left and right on preceding slide bar.
Claims (6)
1. inclined rear suspension rods rocking lever formula forging manipulator lifting mechanism; It comprises lifting device, swing device, front and back buffer unit, left and right sides buffer unit and frame; Wherein swing device and be installed in lifting device top; Claw beam is installed in the lifting device bottom, and the front end of front and back buffer unit is connected the front overhang peg middle part of lifting device, and the rear end links to each other with frame; Left and right sides buffer unit is installed between two front overhang pegs; It is characterized in that: its claw beam upper forepart that links to each other with clamp of described lifting device is respectively equipped with perpendicular front support rod that links to each other and back stay with the rear portion, and its front support rod two ends are connected with two front overhang peg lower ends through ball pivot respectively, and two front overhang peg upper ends are connected the lower end of two preceding connectors respectively through turning joint; Slide bar both sides before two preceding connector upper ends are connected through turning joint respectively; Should respectively establish a preceding left and right sides linear actuator in preceding slide bar two ends, each links to each other this two driver with an end of a preceding lift arm, and the two isometric and parallel preceding lift arm other ends link to each other with frame through turning joint respectively; The lift arm middle part links to each other with preceding up-down linear actuator upper end through ball pivot respectively before two, and this two drivers lower end is connected on the frame through ball pivot respectively; Claw beam back stay two ends are connected with two rear suspension rods lower ends through ball pivot respectively; Two also symmetrical rear suspension rods upper ends that tilt are connected the lower end of two rear connectors respectively through turning joint; Two rear connectors upper ends are connected slide bar both sides, back through turning joint respectively; Left and right sides linear actuator after these slide bar two ends, back are respectively established one; This two driver each with one after an end of lift arm link to each other, the two isometric and parallel back lift arm other ends pass through turning joint respectively and link to each other with frame; Link to each other with back up-down linear actuator upper end through ball pivot respectively at lift arm middle part, two backs, this two drivers lower end is connected on the frame through ball pivot respectively.
2. inclined rear suspension rods rocking lever formula forging manipulator lifting mechanism according to claim 1; It is characterized in that: horizontal direction is arranged before and after the turning joint axis of two front overhang pegs of described connection and two preceding connectors, two rear suspension rods and two rear connectors, and the equal left and right horizontal direction of described all the other turning joint axis is arranged.
3. inclined rear suspension rods rocking lever formula forging manipulator lifting mechanism according to claim 1 and 2 is characterized in that: the up-down linear actuator all is symmetrically arranged behind the linear actuator that goes up and down before described two, two front overhang pegs, two preceding connectors, two rear connectors and two.
4. inclined rear suspension rods rocking lever formula forging manipulator lifting mechanism according to claim 1; It is characterized in that: the described device that swings comprises: left and right sides linear actuator and back slide bar behind two the preceding left and right sides linear actuators, preceding slide bar, two; Wherein: two preceding left and right sides linear actuator left-right symmetric distribute; Its tache motorice withstands on preceding slide bar two ends respectively, and stiff end is connected in preceding lift arm both sides respectively, after two left and right sides linear actuator also left-right symmetric distribute; Its tache motorice withstands on slide bar two ends, back respectively, and stiff end is connected in lift arm both sides, back respectively.
5. inclined rear suspension rods rocking lever formula forging manipulator lifting mechanism according to claim 1; It is characterized in that: described front and back buffer unit comprises: buffering linear actuator and coordination bar before and after two; The buffering linear actuator is symmetrically arranged before and after two; Front end is connected two front overhang peg middle parts with ball pivot respectively, and the rear end is connected through ball pivot respectively and coordinates the bar two ends, and the turning joint that the coordination bar is arranged through the axis normal direction is connected on the frame.
6. inclined rear suspension rods rocking lever formula forging manipulator lifting mechanism according to claim 1; It is characterized in that: described left and right sides buffer unit comprises: about buffering linear actuator and movable stand; About the buffering linear actuator be connected on the claw beam through connecting rod; The tache motorice of its left and right sides withstands on respectively on the inwall parallel with the front overhang peg of movable stand both sides, and this movable stand part parallel with driver links to each other with sleeve pipe on the preceding slide bar through connecting rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101820846A CN102728763A (en) | 2012-06-05 | 2012-06-05 | Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101820846A CN102728763A (en) | 2012-06-05 | 2012-06-05 | Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator |
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| CN102728763A true CN102728763A (en) | 2012-10-17 |
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| CN2012101820846A Pending CN102728763A (en) | 2012-06-05 | 2012-06-05 | Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921870A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator capable of optimizing lifting motion |
| CN102935479A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Forging manipulator with suspension lifting arm |
| CN102941304A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Decoupling type forging manipulator for motion part |
| CN103909198A (en) * | 2014-04-15 | 2014-07-09 | 燕山大学 | Large-scale forging manipulator mechanism |
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| SU493087A1 (en) * | 1974-04-01 | 1986-06-30 | Рязанский завод тяжелого кузнечно-прессового оборудования | Floor forging manipulator |
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschbau | Blacksmith manipulator |
| CN101279353A (en) * | 2008-05-22 | 2008-10-08 | 上海交通大学 | Equidirectional type six-freedom-degree manipulator for forging |
| CN101607296A (en) * | 2009-07-23 | 2009-12-23 | 上海交通大学 | Upper connecting rod forward-only connecting type forging manipulator |
| CN101879571A (en) * | 2010-06-02 | 2010-11-10 | 燕山大学 | Forging manipulator lifting mechanism with inclined rear suspension rods |
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2012
- 2012-06-05 CN CN2012101820846A patent/CN102728763A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| SU493087A1 (en) * | 1974-04-01 | 1986-06-30 | Рязанский завод тяжелого кузнечно-прессового оборудования | Floor forging manipulator |
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschbau | Blacksmith manipulator |
| CN101279353A (en) * | 2008-05-22 | 2008-10-08 | 上海交通大学 | Equidirectional type six-freedom-degree manipulator for forging |
| CN101607296A (en) * | 2009-07-23 | 2009-12-23 | 上海交通大学 | Upper connecting rod forward-only connecting type forging manipulator |
| CN101879571A (en) * | 2010-06-02 | 2010-11-10 | 燕山大学 | Forging manipulator lifting mechanism with inclined rear suspension rods |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921870A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator capable of optimizing lifting motion |
| CN102935479A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Forging manipulator with suspension lifting arm |
| CN102941304A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Decoupling type forging manipulator for motion part |
| CN102921870B (en) * | 2012-10-30 | 2014-10-15 | 燕山大学 | Forging manipulator capable of optimizing lifting motion |
| CN102935479B (en) * | 2012-10-30 | 2014-11-12 | 燕山大学 | Forging manipulator with suspension lifting arm |
| CN102941304B (en) * | 2012-10-30 | 2015-06-10 | 燕山大学 | Decoupling type forging manipulator for motion part |
| CN103909198A (en) * | 2014-04-15 | 2014-07-09 | 燕山大学 | Large-scale forging manipulator mechanism |
| CN103909198B (en) * | 2014-04-15 | 2015-11-18 | 燕山大学 | A kind of large-sized forging manipulator mechanism |
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Application publication date: 20121017 |