CN102921867B - Forging manipulator - Google Patents
Forging manipulator Download PDFInfo
- Publication number
- CN102921867B CN102921867B CN201210420551.4A CN201210420551A CN102921867B CN 102921867 B CN102921867 B CN 102921867B CN 201210420551 A CN201210420551 A CN 201210420551A CN 102921867 B CN102921867 B CN 102921867B
- Authority
- CN
- China
- Prior art keywords
- pair
- rod
- linear actuator
- lift arm
- turning joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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 stamping production mechanization, automation, is used in conjunction with forging press.Current forging manipulator has steel wire hang formula, multi-bar linkage combined type etc.Steel wire hang formula forging manipulator operational capacity is less, and for small-sized forging, multi-bar linkage combined type forging manipulator operational capacity is large, for large-sized forging.Forging manipulator need to be realized and comprise 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 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 complicated operation degree, but its lifting device does not adopt synchronising (connecting) rod, synchronously front and back lifter motion, in the time of 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, when its lifter motion, a pair of pitching linear actuator replaces synchronising (connecting) rod to play synchronous effect, but linear actuator belongs to flexible member, in the time that unbalance loading is born by mechanism, two symmetrical linear actuators change 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: 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 linear actuator, rear slide bar.
Wherein, clamp rear end is connected with claw beam front end by turning joint, the rear end of this claw beam is connected with one end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator is connected with the middle part of rear slide bar by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair of rear left and right linear actuator respectively, the other end of this pair of rear left and right linear actuator connects firmly with the middle part of a pair of synchronising (connecting) rod respectively, one end of this pair of synchronising (connecting) rod is connected with front lift arm respectively by turning joint, the other end of this pair of synchronising (connecting) rod is connected with one end of rear lift arm respectively by turning joint, one position of this rear lift arm is connected with frame by turning joint, another position of this rear lift arm is connected with one end of a pair of lifting linear actuator respectively by turning joint, the other end of this pair of lifting linear actuator is connected with frame by turning joint, above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar, the two ends of this front coordination bar are connected with one end of a pair of front overhang peg respectively by ball pivot, the other end of this pair of front overhang peg is connected with one end of a pair of connector respectively by turning joint, the other end of this pair of connector is connected with front slide bar respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair of front left and right linear actuator respectively, the other end of this pair of front left and right linear actuator connects firmly respectively in above-mentioned front lift arm, one position of above-mentioned front lift arm is connected with frame by turning joint, the middle part of above-mentioned a pair of front overhang peg is connected with linear actuator one end, a pair of front and back by ball pivot, the other end of this pair of front and back linear actuator is connected with the two ends of rear coordination bar respectively by ball pivot, and the middle part of this rear coordination bar is connected 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 to do up and down and be 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 driving claw beam to move up and down.Process seesaws: cart directly drives forging manipulator entirety to seesaw, when cart is accelerating in startup, ramp to stop and 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.Elevating movement process: pitching linear actuator promotes claw beam, drive claw beam rear end to move up and down, and the position that front coordination bar is connected with claw beam remains unchanged, thereby drives clamp to do elevating movement.Deflection motion process: first a pair of front and back linear actuator keeps identical fixed length, then, when a pair of front left and right linear actuator is consistent with a pair of rear left and right linear actuator driving direction and big or small when identical, claw beam drives clamp to do offset movement; In the time that a pair of front left and right linear actuator is contrary with a pair of rear left and right linear actuator driving direction or drive volume is different, claw beam drives clamp to do offset movement.Clamp rotary course: by driving clamp rear end, it is rotated around rear end hinge axes.
The present invention compared with prior art tool has the following advantages:
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.
Brief description of the drawings
Fig. 1 is schematic perspective view of the present invention.
In figure: coordinate after linear actuator, 5-before and after 1-clamp, 2-claw beam, 3-pitching linear actuator, 4-to coordinate bar before slide bar before left and right linear actuator after slide bar after lift arm after bar, 6-lifting linear actuator, 7-frame, 8-, 9-, 10-, 11-synchronising (connecting) rod, 12-front lift arm, 13-front left and right linear actuator, 14-connector, 15-, 16-front overhang peg, 17-.
Detailed description of the invention
In the simplified schematic diagram of a kind of forging manipulator shown in Fig. 1, clamp 1 rear end is connected with claw beam 2 front ends by turning joint, the rear end of this claw beam is connected with one end of pitching linear actuator 3 by ball pivot, the other end of this pitching linear actuator is connected with the middle part of rear slide bar 9 by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair of rear left and right linear actuator 10 respectively, the other end of this pair of rear left and right linear actuator connects firmly with the middle part of a pair of synchronising (connecting) rod 11 respectively, one end of this pair of synchronising (connecting) rod is connected with front lift arm 12 respectively by turning joint, the other end of this pair of synchronising (connecting) rod is connected with one end of rear lift arm 8 respectively by turning joint, one position of this rear lift arm is connected with frame 7 by turning joint, another position of this rear lift arm is connected with one end of a pair of lifting linear actuator 6 respectively by turning joint, the other end of this pair of lifting linear actuator is connected 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, the two ends of this front coordination bar are connected with one end of a pair of front overhang peg 16 respectively by ball pivot, the other end of this pair of front overhang peg is connected with one end of a pair of connector 14 respectively by turning joint, the other end of this pair of connector is connected with front slide bar 15 respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair of front left and right linear actuator 13 respectively, the other end of this pair of front left and right linear actuator connects firmly respectively in above-mentioned front lift arm, one position of above-mentioned front lift arm is connected with frame by turning joint, the middle part of above-mentioned a pair of front overhang peg is connected with linear actuator 4 one end, a pair of front and back by ball pivot, the other end of this pair of front and back linear actuator is connected with the two ends of rear coordination bar 5 respectively by ball pivot, and the middle part of this rear coordination bar is connected with frame by turning joint.
Claims (1)
1. a forging manipulator, it is characterized in that: clamp rear end is connected with claw beam front end by turning joint, the rear end of this claw beam is connected with one end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator is connected with the middle part of rear slide bar by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair of rear left and right linear actuator respectively, the other end of this pair of rear left and right linear actuator connects firmly with the middle part of a pair of synchronising (connecting) rod respectively, one end of this pair of synchronising (connecting) rod is connected with front lift arm respectively by turning joint, the other end of this pair of synchronising (connecting) rod is connected with one end of rear lift arm respectively by turning joint, one position of this rear lift arm is connected with frame by turning joint, another position of this rear lift arm is connected with one end of a pair of lifting linear actuator respectively by turning joint, the other end of this pair of lifting linear actuator is connected with frame by turning joint, above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar, the two ends of this front coordination bar are connected with one end of a pair of front overhang peg respectively by ball pivot, the other end of this pair of front overhang peg is connected with one end of a pair of connector respectively by turning joint, the other end of this pair of connector is connected with front slide bar respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair of front left and right linear actuator respectively, the other end of this pair of front left and right linear actuator connects firmly respectively in above-mentioned front lift arm, one position of above-mentioned front lift arm is connected with frame by turning joint, the middle part of above-mentioned a pair of front overhang peg is connected with linear actuator one end, a pair of front and back by ball pivot, the other end of this pair of front and back linear actuator is connected with the two ends of rear coordination bar respectively by ball pivot, and the middle part of this rear coordination bar is connected 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102921867A CN102921867A (en) | 2013-02-13 |
| CN102921867B true CN102921867B (en) | 2014-11-12 |
Family
ID=47636872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210420551.4A Expired - Fee Related CN102921867B (en) | 2012-10-30 | 2012-10-30 | Forging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102921867B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103157741B (en) * | 2013-03-06 | 2014-11-12 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
| CN103143664B (en) * | 2013-03-06 | 2014-12-24 | 燕山大学 | Forging manipulator with linear lifting function |
| CN103157742B (en) * | 2013-03-06 | 2014-11-12 | 燕山大学 | Redundant drive straight line lifting forging manipulator |
| CN103341584B (en) * | 2013-06-06 | 2015-06-10 | 燕山大学 | Linear lifting forging manipulator for optimizing lifting driving device |
| CN103381465B (en) * | 2013-07-01 | 2015-06-10 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
| CN103381466B (en) * | 2013-07-01 | 2015-06-10 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
| CN103537604B (en) * | 2013-09-23 | 2015-09-16 | 燕山大学 | A kind of six-freedom-degree manipulator for forging |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 (2)
| Title |
|---|
| 一种典型DDS锻造操作机运动学分析;许允斗等;《机械工程学报》;20120229;第48卷(第3期);第51页第3-5段，图1-3 * |
| 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》.2012,第48卷(第3期), * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102921867A (en) | 2013-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102921867B (en) | Forging manipulator | |
| CN101791674B (en) | Lifting mechanism of forging manipulator | |
| CN102921869B (en) | Double-lift driven forging manipulator | |
| CN202894178U (en) | Forging manipulator of six degrees of freedom | |
| CN202894181U (en) | Forging manipulator capable of optimizing and lifting motion | |
| CN103537604B (en) | A kind of six-freedom-degree manipulator for forging | |
| CN202894191U (en) | Less coupling motor type forging manipulator | |
| CN202894182U (en) | Forging manipulator | |
| CN102921868B (en) | Six-degree-of-freedom forging manipulator | |
| CN202894180U (en) | Double lifting drive forging manipulator | |
| CN103537598B (en) | Forging manipulator with optimized deflector | |
| CN102941303B (en) | Forging manipulator with few coupled motions | |
| CN202894189U (en) | Lift arm suspension type forging manipulator | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN202894195U (en) | Double suspension rods type six free degrees forging operating machine | |
| CN102941305B (en) | Lift arm suspension type forging manipulator | |
| CN102921870B (en) | Forging manipulator capable of optimizing lifting motion | |
| CN202894183U (en) | Multi-hanging-rod combined-type forging manipulator | |
| CN102935474B (en) | Single-lifting-arm forging manipulator | |
| CN103909198A (en) | Large-scale forging manipulator mechanism | |
| CN102921871A (en) | Multi-suspension-rod combined forging manipulator | |
| CN102935478B (en) | Forming manipulator capable of reducing clamp moving energy consumption | |
| CN203091651U (en) | Forging manipulator capable of being lifted in straight line mode | |
| CN102935477A (en) | Six-degree-of-freedom forging manipulator | |
| CN202894179U (en) | Single lifting arm forging manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141112 Termination date: 20171030 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |