CN102921869A - Double-lift driven forging manipulator - Google Patents
Double-lift driven forging manipulator Download PDFInfo
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- CN102921869A CN102921869A CN2012104205533A CN201210420553A CN102921869A CN 102921869 A CN102921869 A CN 102921869A CN 2012104205533 A CN2012104205533 A CN 2012104205533A CN 201210420553 A CN201210420553 A CN 201210420553A CN 102921869 A CN102921869 A CN 102921869A
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Abstract
The invention discloses a forging manipulator. A clamp is hinged with a clamp lever, the clamp lever is hinged with a front suspension rod and a pitching linear actuator, the pitching linear actuator is hinged with a rear sliding rod, a front coordinating rod is fixedly connected with the clamp lever, the front suspension rod is hinged with the front coordinating rod and a connecting component, the connecting component is hinged with a front sliding rod, the two ends of a front right-and-left linear actuator are fixedly connected to a front lifting arm and the front sliding rod, a synchronous connecting rod is hinged with the front lifting arm and a rear lifting arm, the front lifting arm and the rear lifting arm are respectively hinged with a rack, a front lifting linear actuator is hinged with the front lifting arm and the rack, a rear lifting linear actuator is respectively hinged with the rear lifting arm and the rack, the two ends of a rear right-and-left linear actuator are fixedly connected to the synchronous connecting rod and the rear sliding rod, a front-and-back linear actuator is hinged with the front suspension rod and a rear coordinating rod, and the rear coordinating rod is hinged with the rack. According to the invention, 6-DOF (degree of freedom) forging operation can be realized; and the mechanism adopts double-lift driving and a rigid synchronous connecting rod structure, therefore, the bearing capacity of the mechanism is improved, and the motion stability is enhanced.
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 in conjunction with forging press.Forging manipulator is one of basic tool of large-sized forging pressure processing, is used in conjunction with forcing press.In general, 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 101879571 A discloses a kind of synchronising (connecting) rod forging manipulator lifting mechanism with inclined, this mechanism has forges seven motions that require, but 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, when unbalance loading is born by mechanism, the linear actuator of two symmetries changes inconsistent, can not play synchronous effect, has affected lifter motion.Also find through retrieval, publication number is that the Chinese patent of CN 102019340 A discloses claw beam lifting mechanism for forging manipulator, although taked rigidity synchronising (connecting) rod structure, but its elevating movement just promotes front lift arm by a pair of front lifting driver, drive rear lift arm by synchronising (connecting) rod the claw beam rear end is moved up and down, when running into heavily loaded forging, rigidity synchronising (connecting) rod bearing capacity is limited, cause the synchronising (connecting) rod distortion, even can the fracture serious consequence.
Summary of the inventionThe object of the present invention is to provide a kind of forging manipulator six-freedom degree, that strengthen the lifting driving force that has.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 front lifting linear actuator, a pair of connector, a pair of front overhang peg, front coordination bar and a pair of rear lifting linear actuator; 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, a pair of rear left and right sides linear actuator, front slide bar and 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 pitching linear actuator one end by ball pivot, this pitching linear actuator other end links to each other with rear slide bar middle part by turning joint, the slide bar two ends connect firmly respectively the end at a pair of rear left and right sides linear actuator after being somebody's turn to do, the other end of this a pair of rear left and right sides linear actuator connects firmly respectively the middle part at a pair of synchronising (connecting) rod, one end of this a pair of synchronising (connecting) rod links to each other with an end of the front lift arm that links to each other with frame by hinge respectively by turning joint, the other end of this a pair of synchronising (connecting) rod links to each other with rear lift arm respectively by turning joint, an end of lift arm links to each other with frame by turning joint after being somebody's turn to do, the other end of lift arm links to each other with an end of a pair of rear lifting linear actuator respectively by turning joint after being somebody's turn to do, and the other end of this a pair of rear lifting linear actuator links to each other with frame respectively by turning joint; Above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar, should frontly coordinate the bar two ends links to each other with an end of a pair of front overhang peg respectively by ball pivot, 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, the other end of above-mentioned front lift arm links to each other with an end of a pair of front lifting linear actuator respectively by turning joint, and the other end of this a pair of front lifting linear actuator links to each other with frame respectively 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 respectively by ball pivot, and this a pair of front and back linear actuator other end links to each other with rear coordination bar two ends respectively by ball pivot, coordinates the bar middle part after this and links to each other with frame by turning joint.
The elevating movement process of forging manipulator: a pair of front lifting linear actuator and a pair of rear lifting linear actuator be equidirectional, promote respectively front lift arm and rear lift arm with size, drive synchronising (connecting) rod, front slide bar, rear slide bar 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 is done the horizontal lifting motion.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 hinge axes position that the front overhang peg 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, two drives structure that promote had strengthened the lifting driving force before and after the present invention adopted, and had improved mechanism's integrated carrying ability.
2, the present invention also adopts rigidity synchronising (connecting) rod structure, when bearing unbalance loading for mechanism, still can stablize accurate synchronization and seesaw.
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 lifting linear actuator, the 4-before the 1-clamp, 2-claw beam, 3-to coordinate bar before slide bar before left and right sides linear actuator behind slide bar behind lift arm behind lifting linear actuator behind bar, the 6-, 7-pitching linear actuator, 8-frame, the 9-, the 10-, the 11-, 12-synchronising (connecting) rod, 13-front lift arm, 14-front left and right linear actuator, 15-connector, the 16-, 17-front overhang peg, the 18-.
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 pitching linear actuator 7 one ends by ball pivot, this pitching linear actuator other end links to each other with rear slide bar 10 middle parts by turning joint, the slide bar two ends connect firmly respectively the end at a pair of rear left and right sides linear actuator 11 after being somebody's turn to do, the other end of this a pair of rear left and right sides linear actuator connects firmly respectively the middle part at a pair of synchronising (connecting) rod 12, one end of this a pair of synchronising (connecting) rod links to each other with an end of the front lift arm 13 that links to each other with frame by hinge respectively by turning joint, the other end of this a pair of synchronising (connecting) rod links to each other with rear lift arm 9 respectively by turning joint, an end of lift arm links to each other with frame 8 by turning joint after being somebody's turn to do, the other end of lift arm links to each other with an end of a pair of rear lifting linear actuator 6 respectively by turning joint after being somebody's turn to do, and the other end of this a pair of rear lifting linear actuator links to each other with frame respectively by turning joint; Above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar 18, should frontly coordinate the bar two ends links to each other with an end of a pair of front overhang peg 17 respectively by ball pivot, the other end of this a pair of front overhang peg links to each other with an end of a pair of connector 15 respectively by turning joint, the other end of this a pair of connector links to each other with front slide bar 16 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 14 respectively, the other end of this a pair of front left and right linear actuator connects firmly respectively on above-mentioned front lift arm, the other end of above-mentioned front lift arm links to each other with an end of a pair of front lifting linear actuator 3 respectively by turning joint, and the other end of this a pair of front lifting linear actuator links to each other with frame respectively 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 respectively by ball pivot, this a pair of front and back linear actuator other end links to each other with rear coordination bar 5 two ends respectively by ball pivot, coordinates the bar middle part after this and links to each other with frame by turning joint.
Claims (1)
1. two a lifting drives 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 pitching linear actuator one end by ball pivot, this pitching linear actuator other end links to each other with rear slide bar middle part by turning joint, the slide bar two ends connect firmly respectively the end at a pair of rear left and right sides linear actuator after being somebody's turn to do, the other end of this a pair of rear left and right sides linear actuator connects firmly respectively the middle part at a pair of synchronising (connecting) rod, one end of this a pair of synchronising (connecting) rod links to each other with an end of the front lift arm that links to each other with frame by hinge respectively by turning joint, the other end of this a pair of synchronising (connecting) rod links to each other with rear lift arm respectively by turning joint, an end of lift arm links to each other with frame by turning joint after being somebody's turn to do, the other end of lift arm links to each other with an end of a pair of rear lifting linear actuator respectively by turning joint after being somebody's turn to do, and the other end of this a pair of rear lifting linear actuator links to each other with frame respectively by turning joint; Above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar, should frontly coordinate the bar two ends links to each other with an end of a pair of front overhang peg respectively by ball pivot, 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, the other end of above-mentioned front lift arm links to each other with an end of a pair of front lifting linear actuator respectively by turning joint, and the other end of this a pair of front lifting linear actuator links to each other with frame respectively 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 respectively by ball pivot, and this a pair of front and back linear actuator other end links to each other with rear coordination bar two ends respectively by ball pivot, coordinates the bar middle part after this and links to each other with frame by turning joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210420553.3A CN102921869B (en) | 2012-10-30 | 2012-10-30 | Double-lift driven forging manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210420553.3A CN102921869B (en) | 2012-10-30 | 2012-10-30 | Double-lift driven forging manipulator |
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| CN102921869A true CN102921869A (en) | 2013-02-13 |
| CN102921869B CN102921869B (en) | 2015-04-08 |
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| CN201210420553.3A Expired - Fee Related CN102921869B (en) | 2012-10-30 | 2012-10-30 | Double-lift driven forging manipulator |
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Cited By (6)
| 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 |
| 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 |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
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| DE3504774C1 (en) * | 1985-02-13 | 1986-06-12 | Schirmer, Plate und Siempelkamp Hydraulische Pressen GmbH, 4150 Krefeld | Forging installation for open-die preforging |
| CN101879571A (en) * | 2010-06-02 | 2010-11-10 | 燕山大学 | Forging manipulator lifting mechanism with inclined rear suspension rods |
| CN202155463U (en) * | 2011-07-06 | 2012-03-07 | 燕山大学 | Lifting mechanism of forging operation machine with little coupling movement |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN202894180U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Double lifting drive forging manipulator |
-
2012
- 2012-10-30 CN CN201210420553.3A patent/CN102921869B/en not_active Expired - Fee Related
Patent Citations (5)
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| DE3504774C1 (en) * | 1985-02-13 | 1986-06-12 | Schirmer, Plate und Siempelkamp Hydraulische Pressen GmbH, 4150 Krefeld | Forging installation for open-die preforging |
| CN101879571A (en) * | 2010-06-02 | 2010-11-10 | 燕山大学 | Forging manipulator lifting mechanism with inclined rear suspension rods |
| CN202155463U (en) * | 2011-07-06 | 2012-03-07 | 燕山大学 | Lifting mechanism of forging operation machine with little coupling movement |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
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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》 * |
Cited By (11)
| 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 |
| CN102921870B (en) * | 2012-10-30 | 2014-10-15 | 燕山大学 | Forging manipulator capable of optimizing lifting motion |
| 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 |
| CN103157741B (en) * | 2013-03-06 | 2014-11-12 | 燕山大学 | Dual-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 |
| 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 |
| 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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| CN102921869B (en) | 2015-04-08 |
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