CN102921867A - Forging manipulator - Google Patents
Forging manipulator Download PDFInfo
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- CN102921867A CN102921867A CN2012104205514A CN201210420551A CN102921867A CN 102921867 A CN102921867 A CN 102921867A CN 2012104205514 A CN2012104205514 A CN 2012104205514A CN 201210420551 A CN201210420551 A CN 201210420551A CN 102921867 A CN102921867 A CN 102921867A
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Abstract
The invention discloses a forging manipulator, wherein the clamp of the forging manipulator is hinged with the front end of a clamp rod; a pitching linear driver is hinged with the rear end of the clamp rod and the middle of a rear slide rod; a rear left-and-right linear driver is fixedly connected with the rear slide rod and a synchronous connection rod; the synchronous connection rod is hinged with a front lift arm and a rear lift arm; a lift-drop linear driver is hinged with the rear lift arm and a rack; the clamp rod is fixedly connected with a front coordination rod; the front coordination rod is hinged with a front suspension rod; a connection piece is hinged with the front suspension rod and a front slide rod respectively; the both ends of a front left-and-right linear driver are fixedly connected to the front lift arm and the front slide rod respectively; the front lift arm and the rear lift arm are hinged with the rack respectively; a front-and-back linear driver is hinged with the front suspension rod and a rear coordination rod respectively; and the rear coordination rod is hinged with the rack. According to the invention, a six-degree-of-freedom forging operation can be realized; and moreover, a mechanism adopts a structure of the rigid synchronous connection rod, thus enhancing movement stability and improving the bearing capacity of the mechanism.
Description
Technical fieldThe present invention relates to a kind of forging manipulator.
Background technologyForging manipulator is one of basic tool of large-sized forging pressure processing, is an equipment realizing forging and pressing production mechanization, automation, is used with forging press.Present forging manipulator has steel wire hang formula, multi-bar linkage combined type etc.Steel wire hang formula forging manipulator operational capacity is less, is used for small-sized forging, and multi-bar linkage combined type forging manipulator operational capacity is large, is used for large-sized forging.Forging manipulator need to realize comprising seven forging operation functions such as jaw clamping, claw beam rotation, claw beam lifting, claw beam pitching, claw beam are traversing, claw beam swing, large vehicle walking.Find through retrieval, publication number is that the Chinese patent of CN 1772411 A discloses a kind of double-ball joint telescopic six-dimensional parallel forging operation machine, if it adjusts the forging pose, need whole hydraulic cylinders to coordinate together just can finish the work, coupling is large, complicated operation has increased the operating time, has reduced operating efficiency.Also find through retrieval, publication number is that the Chinese patent of CN 101279353 A discloses a kind of Equidirectional type six-freedom-degree manipulator for forging, although reduced the complicated operation degree, but its lifting device does not adopt synchronising (connecting) rod, synchronously front and back lifter motion, when lifter motion, claw beam is difficult to keep horizontal lifting.Also find through retrieval, publication number is that the Chinese patent of CN 101879571 A also discloses a kind of synchronising (connecting) rod forging manipulator lifting mechanism with inclined, during its lifter motion, a pair of pitching linear actuator replaces synchronising (connecting) rod to play synchronous effect, but linear actuator belongs to flexible member, and when unbalance loading was born by mechanism, the linear actuator of two symmetries changed inconsistent, can not play synchronous effect, affect lifter motion.
Summary of the inventionThe object of the present invention is to provide a kind of simple to operate, can Synchronous lifting the forging manipulator of motion.The present invention mainly comprises clamp rotation device, lifting device, elevation mount, front and back buffer unit and deflection device.Described clamp rotation device comprises: claw beam and clamp; Described lifting device comprises: front lift arm, synchronising (connecting) rod, rear lift arm, a pair of lifting linear actuator, a pair of connector, a pair of front overhang peg, front coordination bar; Described elevation mount comprises: the pitching linear actuator; Described front and back buffer unit comprises: a pair of front and back linear actuator; Described deflection offset assembly comprises: a pair of front left and right linear actuator, front slide bar, a pair of rear left and right sides linear actuator, rear slide bar.
Wherein, the clamp rear end is connected with the claw beam front end by turning joint, the rear end of this claw beam links to each other with an end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator links to each other with the middle part of rear slide bar by turning joint, should after the two ends of slide bar connect firmly with an end of a pair of rear left and right sides linear actuator respectively, the other end of this a pair of rear left and right sides linear actuator connects firmly with the middle part of a pair of synchronising (connecting) rod respectively, one end of this a pair of synchronising (connecting) rod links to each other with front lift arm respectively by turning joint, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm respectively by turning joint, a position of lift arm links to each other with frame by turning joint after being somebody's turn to do, another position of lift arm links to each other with an end of a pair of lifting linear actuator respectively by turning joint after being somebody's turn to do, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint; Above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar, should link to each other with an end of a pair of front overhang peg respectively by ball pivot at front two ends of coordinating bar, the other end of this a pair of front overhang peg links to each other with an end of a pair of connector respectively by turning joint, the other end of this a pair of connector links to each other with front slide bar respectively by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator respectively, the other end of this a pair of front left and right linear actuator connects firmly respectively on above-mentioned front lift arm, and a position of above-mentioned front lift arm links to each other with frame by turning joint; The middle part of above-mentioned a pair of front overhang peg links to each other with a pair of front and back linear actuator one end by ball pivot, the other end of this a pair of front and back linear actuator links to each other with the two ends of rear coordination bar respectively by ball pivot, and the middle part of coordinating bar after this links to each other with frame by turning joint.
The elevating movement process of forging manipulator of the present invention: lift arm after a pair of lifting linear actuator promotes, drive synchronising (connecting) rod, front lift arm are done up and down and are synchronized with the movement, thereby drive connector, front overhang peg, front coordination bar and keep the pitching linear actuator of fixed length to move up and down, and then the drive claw beam moves up and down.Process seesaws: cart directly drives forging manipulator integral body and does and seesaw, when cart is accelerating in startup, ramp to stop and the forging process, by the stretching motion of a pair of front and back linear actuator, realize the kicking motion that claw beam adapts to front and back sudden change external force.The elevating movement process: the pitching linear actuator promotes claw beam, drive the claw beam rear end and move up and down, and the position that front coordination bar links to each other with claw beam remains unchanged, and does elevating movement thereby drive clamp.The deflection motion process: at first a pair of front and back linear actuator keeps identical fixed length, and then consistent with a pair of rear left and right sides linear actuator driving direction and big or small when identical when a pair of front left and right linear actuator, claw beam drives clamp and does offset movement; When a pair of front left and right linear actuator and a pair of after the opposite or driving amount of left and right sides linear actuator driving direction not simultaneously, claw beam drives clamp and does offset movement.Clamp rotary course: by driving the clamp rear end, it is rotated around the rear end hinge axes.
The present invention compared with prior art has following advantage:
1, simple in structure, sports coupling is little, easy to operate, shortened the operating time, improved operating efficiency.
2, the present invention also adopts rigidity synchronising (connecting) rod structure, has improved the bearing capacity of lift arm, and two parts motion before and after having coordinated has strengthened stability and the accuracy of moving.
Description of drawings
Fig. 1 is schematic perspective view of the present invention.
Among the figure: coordinate behind linear actuator, the 5-before and after the 1-clamp, 2-claw beam, 3-pitching linear actuator, 4-to coordinate bar before slide bar before left and right sides linear actuator behind slide bar behind lift arm behind bar, 6-lifting linear actuator, 7-frame, the 8-, the 9-, the 10-, 11-synchronising (connecting) rod, 12-front lift arm, 13-front left and right linear actuator, 14-connector, the 15-, 16-front overhang peg, the 17-.
The specific embodiment
In the simplified schematic diagram of a kind of forging manipulator shown in Figure 1, clamp 1 rear end is connected with claw beam 2 front ends by turning joint, the rear end of this claw beam links to each other with an end of pitching linear actuator 3 by ball pivot, the other end of this pitching linear actuator links to each other by the middle part of turning joint with rear slide bar 9, should after the two ends of slide bar connect firmly with an end of a pair of rear left and right sides linear actuator 10 respectively, the other end of this a pair of rear left and right sides linear actuator connects firmly with the middle part of a pair of synchronising (connecting) rod 11 respectively, one end of this a pair of synchronising (connecting) rod links to each other with front lift arm 12 respectively by turning joint, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm 8 respectively by turning joint, a position of lift arm links to each other with frame 7 by turning joint after being somebody's turn to do, another position of lift arm links to each other with an end of a pair of lifting linear actuator 6 respectively by turning joint after being somebody's turn to do, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint; Above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar 17, should link to each other with an end of a pair of front overhang peg 16 respectively by ball pivot at front two ends of coordinating bar, the other end of this a pair of front overhang peg links to each other with an end of a pair of connector 14 respectively by turning joint, the other end of this a pair of connector links to each other with front slide bar 15 respectively by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator 13 respectively, the other end of this a pair of front left and right linear actuator connects firmly respectively on above-mentioned front lift arm, and a position of above-mentioned front lift arm links to each other with frame by turning joint; The middle part of above-mentioned a pair of front overhang peg links to each other with a pair of front and back linear actuator 4 one ends by ball pivot, the other end of this a pair of front and back linear actuator links to each other with the two ends of rear coordination bar 5 respectively by ball pivot, and the middle part of coordinating bar after this links to each other with frame by turning joint.
Claims (1)
1. forging manipulator, it is characterized in that: the clamp rear end is connected with the claw beam front end by turning joint, the rear end of this claw beam links to each other with an end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator links to each other with the middle part of rear slide bar by turning joint, should after the two ends of slide bar connect firmly with an end of a pair of rear left and right sides linear actuator respectively, the other end of this a pair of rear left and right sides linear actuator connects firmly with the middle part of a pair of synchronising (connecting) rod respectively, one end of this a pair of synchronising (connecting) rod links to each other with front lift arm respectively by turning joint, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm respectively by turning joint, a position of lift arm links to each other with frame by turning joint after being somebody's turn to do, another position of lift arm links to each other with an end of a pair of lifting linear actuator respectively by turning joint after being somebody's turn to do, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint; Above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar, should link to each other with an end of a pair of front overhang peg respectively by ball pivot at front two ends of coordinating bar, the other end of this a pair of front overhang peg links to each other with an end of a pair of connector respectively by turning joint, the other end of this a pair of connector links to each other with front slide bar respectively by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator respectively, the other end of this a pair of front left and right linear actuator connects firmly respectively on above-mentioned front lift arm, and a position of above-mentioned front lift arm links to each other with frame by turning joint; The middle part of above-mentioned a pair of front overhang peg links to each other with a pair of front and back linear actuator one end by ball pivot, the other end of this a pair of front and back linear actuator links to each other with the two ends of rear coordination bar respectively by ball pivot, and the middle part of coordinating bar after this links to each other with frame by turning joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210420551.4A CN102921867B (en) | 2012-10-30 | 2012-10-30 | Forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210420551.4A CN102921867B (en) | 2012-10-30 | 2012-10-30 | Forging manipulator |
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| Publication Number | Publication Date |
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| CN102921867A true CN102921867A (en) | 2013-02-13 |
| CN102921867B CN102921867B (en) | 2014-11-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210420551.4A Expired - Fee Related CN102921867B (en) | 2012-10-30 | 2012-10-30 | Forging manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103143664A (en) * | 2013-03-06 | 2013-06-12 | 燕山大学 | Forging manipulator with linear lifting function |
| CN103157741A (en) * | 2013-03-06 | 2013-06-19 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
| CN103157742A (en) * | 2013-03-06 | 2013-06-19 | 燕山大学 | Redundant drive straight line lifting forging manipulator |
| CN103341584A (en) * | 2013-06-06 | 2013-10-09 | 燕山大学 | Linear lifting forging manipulator for optimizing lifting driving device |
| CN103381465A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
| CN103381466A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
Citations (7)
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| GB898738A (en) * | 1959-05-27 | 1962-06-14 | British Iron Steel Research | Improvements in or relating to forging methods |
| EP0307883A2 (en) * | 1987-09-18 | 1989-03-22 | SMS Hasenclever GmbH | Integrated circuit for a manipulator as well as a coorperating free-form powerpress and a manipulator with a measuring device therefor |
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschbau | Blacksmith manipulator |
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN101879571A (en) * | 2010-06-02 | 2010-11-10 | 燕山大学 | Forging manipulator lifting mechanism with inclined rear suspension rods |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN202894182U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator |
-
2012
- 2012-10-30 CN CN201210420551.4A patent/CN102921867B/en not_active Expired - Fee Related
Patent Citations (7)
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|---|---|---|---|---|
| GB898738A (en) * | 1959-05-27 | 1962-06-14 | British Iron Steel Research | Improvements in or relating to forging methods |
| EP0307883A2 (en) * | 1987-09-18 | 1989-03-22 | SMS Hasenclever GmbH | Integrated circuit for a manipulator as well as a coorperating free-form powerpress and a manipulator with a measuring device therefor |
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschbau | Blacksmith manipulator |
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN101879571A (en) * | 2010-06-02 | 2010-11-10 | 燕山大学 | Forging manipulator lifting mechanism with inclined rear suspension rods |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN202894182U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator |
Non-Patent Citations (1)
| Title |
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| 许允斗等: "一种典型DDS锻造操作机运动学分析", 《机械工程学报》, vol. 48, no. 3, 29 February 2012 (2012-02-29) * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103143664A (en) * | 2013-03-06 | 2013-06-12 | 燕山大学 | Forging manipulator with linear lifting function |
| CN103157741A (en) * | 2013-03-06 | 2013-06-19 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
| CN103157742A (en) * | 2013-03-06 | 2013-06-19 | 燕山大学 | Redundant drive straight line lifting forging manipulator |
| CN103157742B (en) * | 2013-03-06 | 2014-11-12 | 燕山大学 | Redundant drive straight line lifting forging manipulator |
| CN103157741B (en) * | 2013-03-06 | 2014-11-12 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
| CN103341584A (en) * | 2013-06-06 | 2013-10-09 | 燕山大学 | Linear lifting forging manipulator for optimizing lifting driving device |
| CN103341584B (en) * | 2013-06-06 | 2015-06-10 | 燕山大学 | Linear lifting forging manipulator for optimizing lifting driving device |
| CN103381465A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
| CN103381466A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
| CN103381466B (en) * | 2013-07-01 | 2015-06-10 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN103537604B (en) * | 2013-09-23 | 2015-09-16 | 燕山大学 | A kind of six-freedom-degree manipulator for forging |
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| CN102921867B (en) | 2014-11-12 |
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