CN102921869B - Double-lift driven forging manipulator - Google Patents
Double-lift driven forging manipulator Download PDFInfo
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- CN102921869B CN102921869B CN201210420553.3A CN201210420553A CN102921869B CN 102921869 B CN102921869 B CN 102921869B CN 201210420553 A CN201210420553 A CN 201210420553A CN 102921869 B CN102921869 B CN 102921869B
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- linear actuator
- turning joint
- rod
- hinged
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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, be realize forging and stamping production mechanization, automation an equipment, with forging press with the use of.Forging manipulator is one of basic tool of large-sized forging pressure processing, with forcing press with the use of.In general, forging manipulator seven the 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 that need realization to comprise.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 seven motions that forging requires, but during its lifter motion, a pair 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, two symmetrical linear actuator changes are inconsistent, can not play synchronous effect, have impact on 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 take rigid water hammer bar linkage structure, but its elevating movement just promotes front lift arm by lift actuator before a pair, after being driven by synchronising (connecting) rod, lift arm makes claw beam rear end move up and down, and when running into heavily loaded forging, rigid water hammer connecting rod bearing capacity is limited, cause synchronising (connecting) rod to be out of shape, the serious consequence that ruptures even can occur.
summary of the inventionthe object of the present invention is to provide a kind of forging manipulator that there is six-freedom degree, that strengthen lifting driving force.The present invention mainly comprises clamp rotation device, lifting device, elevation mount, front-back buffer and deflection device.Described clamp rotation device comprises: claw beam and clamp; Described lifting device comprises: be elevated linear actuator after front lift arm, synchronising (connecting) rod, rear lift arm, lifting linear actuator before a pair, a pair connector, a pair front overhang peg, front coordination bar and a pair; Described elevation mount comprises: pitching linear actuator; Described front-back buffer comprises: a pair tandem driver; Described deflection offset assembly comprises: a pair front left and right linear actuator, a pair rear left and right linear actuator, front slide bar and 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 pitching linear actuator one end by ball pivot, this pitching linear actuator other end is connected with in the middle part of rear slide bar by turning joint, these rear slide bar two ends connect firmly one end of left and right linear actuator after a pair respectively, after this pair, the other end of left and right linear actuator connects firmly the middle part at a pair synchronising (connecting) rod respectively, one end of this pair synchronising (connecting) rod is connected with the one end of the front lift arm be connected with frame by hinge respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected with rear lift arm respectively by turning joint, one end of this rear lift arm is connected with frame by turning joint, the other end of this rear lift arm is connected with the one end being elevated linear actuator after a pair respectively by turning joint, after this pair, the other end of lifting linear actuator is connected with frame respectively by turning joint, above-mentioned claw beam connects firmly near the middle part of a position of clamp and front coordination bar, these front coordination bar two ends are connected with one end of a pair front overhang peg respectively by ball pivot, the other end of this pair front overhang peg is connected with one end of a pair connector respectively by turning joint, the other end of this pair 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 front left and right linear actuator respectively, the other end of this pair front left and right linear actuator connects firmly respectively in above-mentioned front lift arm, the other end of above-mentioned front lift arm is connected with the one end being elevated linear actuator before a pair respectively by turning joint, before this pair, the other end of lifting linear actuator is connected with frame respectively by turning joint, the middle part of above-mentioned a pair front overhang peg is connected with a pair tandem driver one end respectively by ball pivot, and this pair tandem driver other end is connected with rear coordination bar two ends respectively by ball pivot, is connected in the middle part of this rear coordination bar by turning joint with frame.
The elevating movement process of forging manipulator: after a pair front lifting linear actuator and a pair lifting linear actuator equidirectional, promote front lift arm and rear lift arm respectively with size, synchronising (connecting) rod, front slide bar, rear slide bar is driven to do and be synchronized with the movement up and down, thus the pitching linear actuator of band follower link, front overhang peg, front coordination bar and maintenance fixed length moves up and down, and then claw beam is driven to do horizontal lifting motion.Seesaw process: cart directly drives forging manipulator entirety to seesaw, when cart is in acceleration startup, ramp to stop and forging process, by the stretching motion of a pair tandem driver, 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 hinge axes position that front overhang peg is connected with claw beam remains unchanged, thus drives clamp to do elevating movement.Deflection motion process: first a pair tandem driver keeps identical fixed length, then when left and right linear actuator driving direction after a pair front left and right linear actuator is with a pair is consistent and size is identical, claw beam drives clamp to do offset movement; When left and right linear actuator driving direction after a pair front left and right linear actuator is with a pair is contrary or drive volume is different, claw beam drives clamp to do offset movement.Clamp rotary course: by driving clamp rear end, make it rotate around rear end hinge axes.
The present invention compared with prior art tool has the following advantages:
1, the present invention is two before and after adopting promotes drives structure, enhances lifting driving force, improves whole mechanism bearing capacity.
2, the present invention also adopts rigid water hammer bar linkage structure, when bearing unbalance loading for mechanism, still can stablize accurate synchronization and seesaw.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention.
In figure: coordinate bar before slide bar, 17-front overhang peg, 18-before left and right linear actuator, 12-synchronising (connecting) rod, 13-front lift arm, 14-front left and right linear actuator, 15-connector, 16-after slide bar, 11-after lift arm, 10-after being elevated linear actuator, 7-pitching linear actuator, 8-frame, 9-after coordinating bar, 6-after lifting linear actuator, 4-tandem driver, 5-before 1-clamp, 2-claw beam, 3-.
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 end by turning joint, the rear end of this claw beam is connected with pitching linear actuator 7 one end by ball pivot, this pitching linear actuator other end is connected with in the middle part of rear slide bar 10 by turning joint, these rear slide bar two ends connect firmly one end of left and right linear actuator 11 after a pair respectively, after this pair, the other end of left and right linear actuator connects firmly at the middle part of a pair synchronising (connecting) rod 12 respectively, one end of this pair synchronising (connecting) rod is connected with the one end of the front lift arm 13 be connected with frame by hinge respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected with rear lift arm 9 respectively by turning joint, one end of this rear lift arm is connected with frame 8 by turning joint, the other end of this rear lift arm is connected with the one end being elevated linear actuator 6 after a pair respectively by turning joint, after this pair, the other end of lifting linear actuator is connected with frame respectively by turning joint, above-mentioned claw beam connects firmly near the middle part of a position of clamp and front coordination bar 18, these front coordination bar two ends are connected with one end of a pair front overhang peg 17 respectively by ball pivot, the other end of this pair front overhang peg is connected with one end of a pair connector 15 respectively by turning joint, the other end of this pair connector is connected with front slide bar 16 respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair front left and right linear actuator 14 respectively, the other end of this pair front left and right linear actuator connects firmly respectively in above-mentioned front lift arm, the other end of above-mentioned front lift arm is connected with the one end being elevated linear actuator 3 before a pair respectively by turning joint, before this pair, the other end of lifting linear actuator is connected with frame respectively by turning joint, the middle part of above-mentioned a pair front overhang peg is connected with a pair tandem driver 4 one end respectively by ball pivot, this a pair tandem driver other end is connected with rear coordination bar 5 two ends respectively by ball pivot, is connected in the middle part of this rear coordination bar by turning joint with frame.
Claims (1)
1. two a lifting drives 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 pitching linear actuator one end by ball pivot, this pitching linear actuator other end is connected with in the middle part of rear slide bar by turning joint, these rear slide bar two ends connect firmly one end of left and right linear actuator after a pair respectively, after this pair, the other end of left and right linear actuator connects firmly the middle part at a pair synchronising (connecting) rod respectively, one end of this pair synchronising (connecting) rod is connected with the one end of the front lift arm be connected with frame by hinge respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected with rear lift arm respectively by turning joint, one end of this rear lift arm is connected with frame by turning joint, the other end of this rear lift arm is connected with the one end being elevated linear actuator after a pair respectively by turning joint, after this pair, the other end of lifting linear actuator is connected with frame respectively by turning joint, above-mentioned claw beam connects firmly near the middle part of a position of clamp and front coordination bar, these front coordination bar two ends are connected with one end of a pair front overhang peg respectively by ball pivot, the other end of this pair front overhang peg is connected with one end of a pair connector respectively by turning joint, the other end of this pair 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 front left and right linear actuator respectively, the other end of this pair front left and right linear actuator connects firmly respectively in above-mentioned front lift arm, the other end of above-mentioned front lift arm is connected with the one end being elevated linear actuator before a pair respectively by turning joint, before this pair, the other end of lifting linear actuator is connected with frame respectively by turning joint, the middle part of above-mentioned a pair front overhang peg is connected with a pair tandem driver one end respectively by ball pivot, and this pair tandem driver other end is connected with rear coordination bar two ends respectively by ball pivot, is connected in the middle part of this rear coordination bar by turning joint with frame.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN102921869A CN102921869A (en) | 2013-02-13 |
| CN102921869B true CN102921869B (en) | 2015-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921870B (en) * | 2012-10-30 | 2014-10-15 | 燕山大学 | Forging manipulator capable of optimizing lifting motion |
| 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 |
| CN103537604B (en) * | 2013-09-23 | 2015-09-16 | 燕山大学 | A kind of six-freedom-degree manipulator for forging |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Non-Patent Citations (1)
| 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50-56页 * |
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| CN102921869A (en) | 2013-02-13 |
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Granted publication date: 20150408 Termination date: 20211030 |