CN102935480A - Little kinematic coupling type six-degree-of-freedom forging manipulator - Google Patents
Little kinematic coupling type six-degree-of-freedom forging manipulator Download PDFInfo
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- CN102935480A CN102935480A CN2012104214195A CN201210421419A CN102935480A CN 102935480 A CN102935480 A CN 102935480A CN 2012104214195 A CN2012104214195 A CN 2012104214195A CN 201210421419 A CN201210421419 A CN 201210421419A CN 102935480 A CN102935480 A CN 102935480A
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Abstract
The invention relates to a little kinematic coupling type six-degree-of-freedom forging manipulator. The little kinematic coupling type six-degree-of-freedom forging manipulator is characterized in that a clamp is articulated with the front end of a clamp lever; a front connecting piece is fixedly connected with the clamp lever and a front left-right linear driver; a front suspension rod is articulated with the front left-right linear driver; a front lift arm and a rear lift arm are articulated on a cart frame; the rear lift arm is articulated with a rear left-right linear driver and a synchronous connecting rod; a pitching linear driver is fixedly connected with the rear left-right linear driver and articulated with the rear end of the clamp lever; and a lifting linear driver is articulated with the front lift arm and the cart frame. According to the invention, a scheme 1 is as follows: the front lift arm is articulated with the synchronous connecting rod, and the front linear driver and the rear linear driver are articulated with the front suspension rod and the cart frame; and a scheme 2 is as follows: the front lift arm is articulated with the front suspension rod, and the front linear driver and the rear linear driver are articulated with the synchronous connecting rod and the cart frame. The little kinematic coupling type six-degree-of-freedom forging manipulator disclosed by the invention has the advantages of little kinematic coupling, easiness for kinematic and dynamic analysis, convenience for control, and reduced processing and manufacturing cost by completely using lower pairs.
Description
Technical fieldThe present invention relates to a kind of forging manipulator.
Background technologyForging manipulator belongs to weight equipment, generally adopts hydraulic-driven, and it is more simple better that it drives control inputs.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.Find through the retrieval to existing forging operation machine technology, publication number is that the Chinese patent of CN 1745937 A discloses a kind of six-dimensional parallel forging operator, the claw beam of this manipulator can be regarded the moving platform of parallel institution as, although increased rigidity and the bearing capacity of mechanism, but become comparatively complicated so that drive input control system, be difficult for realizing.Publication number is that the Chinese patent of CN 101607296 A discloses a kind of upper connecting rod forward-only connecting type forging manipulator, this manipulator avoids using complete parallel form, the multi-bar linkage combining form, although simplified in some motion processes and driven input control system, but before needing simultaneously control during this forging manipulator lifter motion, rear lifting driver, could keep the clamp horizontal movement, a simple motion finishing clamp needs All Drives to cooperate together just and can finish, thereby adjust the accurate pose of clamp, comparatively difficulty operates, increased the working time, reduced operating efficiency, and this manipulator hoisting mechanism rear suspension rods adopts ball pivot to link to each other with the claw beam rear portion, has weakened the integrated carrying ability of manipulator.
Summary of the inventionThe object of the present invention is to provide a kind of sports coupling few, the forging manipulator that bearing capacity is high.The present invention comprises that mainly cart moves and whirligig, clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit.
Wherein, cart moves and whirligig comprises: large chassis, large vehicle carriage and travel mechanism.Large chassis is connected with the cart bottom of frame by hinge, and travel mechanism is installed on the large chassis, and this travel mechanism can be that moving sets also can be wheel.
Described clamp rotating device comprises: claw beam and clamp.The clamp rear end is connected with the claw beam front end by hinge, and this claw beam front end connects firmly in the centre bore of front connector.
Described lifting device comprises: front connector, front lift arm, rear lift arm, a pair of lifting linear actuator, a pair of front overhang peg and a pair of synchronising (connecting) rod.It has two kinds of connected modes, first kind of way is that the two ends of front connector and an end of a pair of front left and right linear actuator connect firmly, one end of this front left and right linear actuator and a pair of front overhang peg is hinged, the other end of this front overhang peg is connected with a position of a pair of synchronising (connecting) rod by hinge, one end of this synchronising (connecting) rod is connected with an end of front lift arm by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned synchronising (connecting) rod is connected with an end of rear lift arm by hinge, and position of lift arm is connected through the hinge on large vehicle carriage two side after this.The second way is that the two ends of front connector and an end of a pair of front left and right linear actuator connect firmly, this a pair of front left and right linear actuator is connected with an end of a pair of front overhang peg by hinge, the other end of this a pair of front overhang peg is connected with an end of front lift arm by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side, one position of above-mentioned a pair of front overhang peg is connected with an end of a pair of synchronising (connecting) rod by hinge, the other end of this a pair of synchronising (connecting) rod is connected with an end of rear lift arm by hinge, and position of lift arm is connected through the hinge on large vehicle carriage two side after this.
Described elevation mount comprises: the pitching linear actuator.One end of pitching linear actuator is connected with above-mentioned claw beam rear end by hinge, and the other end of this pitching linear actuator connects firmly at rear left and right sides linear actuator middle part.
Described front and back buffer unit comprises: a pair of front and back linear actuator.It has two kinds of connected modes, and an end of a pair of front and back linear actuator is connected with a position of above-mentioned a pair of front overhang peg by hinge in the above-mentioned first kind of way, and the other end of this a pair of front and back linear actuator is connected through the hinge on large vehicle carriage two side.An end of a pair of front and back linear actuator is connected with a position of above-mentioned a pair of synchronising (connecting) rod by hinge in the above-mentioned second way, and the other end of this a pair of front and back linear actuator is connected through the hinge on large vehicle carriage two side.
Described left and right sides buffer unit comprises: the rear left and right sides linear actuator that the front left and right linear actuator that connects firmly with front connector two ends and middle part and pitching linear actuator connect firmly.Rear left and right sides linear actuator is connected with a position of above-mentioned rear lift arm by hinge.
Above-mentioned a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod and the equal left-right symmetry of a pair of front left and right linear actuator are installed on the large vehicle carriage.
The elevating movement process of the forging manipulator of above-mentioned first kind of way: a pair of lifting linear actuator promotes front lift arm, drive a pair of front overhang peg, a pair of front left and right linear actuator and front connector by a pair of synchronising (connecting) rod and do up and down and be synchronized with the movement, move up and down thereby drive clamp.Process seesaws: directly drive large chassis by large vehicle moving mechanism first, drive forging manipulator integral body is done and is seesawed, when forging manipulator clamp during near desired location, promote a pair of front overhang peg by a pair of front and back linear actuator again, drive a pair of front left and right linear actuator, front connector do before and after back and forth movement, and then drive claw beam and clamp and do and seesaw.The elevating movement process: the pitching linear motion driver promotes the claw beam rear end and moves up and down, and the hinge axes position that the front left and right linear drives links to each other with the front overhang peg remains unchanged, thereby drive claw beam and clamp are done elevating movement.The transverse motion process: connector before a pair of front left and right linear actuator drives, a pair of rear left and right sides linear actuator drives the pitching linear actuator in the same way simultaneously, drives claw beam and clamp and does transverse movement.Clamp rotation process: it is rotated by driving the clamp rear end around the rear end hinge axes.Oscillating motion process: by driving the cart bottom of frame it is rotated around the bottom hinge axis, drive the forging manipulator Integral swinging, realize the stable oscillating motion of clamp.
The elevating movement process of the forging manipulator of the above-mentioned second way: a pair of lifting linear actuator promotes front lift arm, driving a pair of front overhang peg, a pair of front left and right linear actuator and front connector does up and down and is synchronized with the movement, thereby drive synchronising (connecting) rod and keep the pitching linear actuator of fixed length to move up and down, and then drive claw beam and clamp moves up and down.Process seesaws: directly drive large chassis by large vehicle moving mechanism first, drive forging manipulator integral body is done and is seesawed, when forging manipulator clamp during near desired location, promote a pair of synchronising (connecting) rod by a pair of front and back linear actuator again, drive a pair of front overhang peg, a pair of front left and right linear actuator and front connector do before and after back and forth movement, and then drive claw beam and clamp and do and seesaw.The elevating movement process: the pitching linear motion driver promotes the claw beam rear end and moves up and down, and the hinge axes position that the front left and right linear drives links to each other with the front overhang peg remains unchanged, thereby drive claw beam and clamp are done elevating movement.The transverse motion process: connector and rear connectors before a pair of front left and right linear actuator and a pair of rear left and right sides linear actuator drive respectively in the same way drive claw beam and clamp and do transverse movement.Clamp rotation process: it is rotated by driving the clamp rear end around the rear end hinge axes.Oscillating motion process: by driving the cart bottom of frame it is rotated around the bottom hinge axis, drive the forging manipulator Integral swinging, realize the stable oscillating motion of clamp.
The present invention compared with prior art has following advantage:
1, the present invention only has the lifting process sports coupling, and other each main motion all can be finished by single driver, has simplified kinematics and dynamic analysis, is easy to control.
2, connecting portion all uses lower pair among the present invention, has avoided using the higher pair such as ball pivot and the bearing capacity that causes is poor, has reduced processing and manufacturing cost.
Description of drawings
Fig. 1 is that the master of the embodiment of the invention 1 looks simplified schematic diagram.
Fig. 2 is the inner three-dimensional simplified schematic diagram of large vehicle carriage among Fig. 1.
Fig. 3 is that the master of section of the embodiment of the invention 2 looks simplified schematic diagram.
Fig. 4 is the inner three-dimensional simplified schematic diagram of large vehicle carriage among Fig. 3.
Among the figure: lift arm behind left and right sides linear actuator, the front connector of 11-, 12-clamp, 13-claw beam, 14-front lift arm, the 15-behind the large vehicle carriage of 1-, the large chassis of 2-, 3-wheel, 4-lifting linear actuator, 5-pitching linear actuator, 6-front and back linear actuator, 7-front overhang peg, 8-synchronising (connecting) rod, 9-front left and right linear actuator, the 10-.
The specific embodiment
Embodiment 1
In the simplified schematic diagram of the few coupled mode six-freedom-degree manipulator for forging of motion illustrated in figures 1 and 2, large
Vehicle carriage 1 bottom is connected with large chassis 2 by hinge, and wheel 3 symmetries are installed in the bottom of large chassis.Clamp 12 rear ends are connected with claw beam 13 front ends by hinge, this claw beam front end connects firmly in the central through hole of front connector 11, the rear end of this claw beam links to each other with pitching linear actuator 5 one ends by hinge, this pitching linear actuator other end connects firmly at linear actuator 10 middle parts, the rear left and right sides, should be connected by the middle part of hinge with rear lift arm 15 at rear linear actuator two ends, the left and right sides, a position of lift arm is connected on the large vehicle carriage two side by hinge B after being somebody's turn to do, another position of above-mentioned rear lift arm is connected with an end of a pair of synchronising (connecting) rod 8 by hinge, the other end of this a pair of synchronising (connecting) rod is connected with an end of front lift arm 14 by hinge, one position of this front lift arm is connected on the large vehicle carriage two side by hinge A, the other end of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator 4 by hinge, the other end of this a pair of lifting linear actuator is connected on the large vehicle carriage two side by hinge D, one position of above-mentioned a pair of synchronising (connecting) rod is connected with an end of a pair of front overhang peg 7 by hinge, the other end of this a pair of front overhang peg is connected with a pair of front left and right linear actuator 9 by hinge, the other end of this a pair of front left and right linear actuator connects firmly the two ends at above-mentioned front connector, the middle part of above-mentioned front overhang peg is connected by the end of hinge with a pair of front and back linear actuator 6, and the other end of this a pair of front and back linear actuator is connected on the large vehicle carriage two side by hinge C.
Above-mentioned a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod and the equal left-right symmetry of a pair of front left and right linear actuator are installed on the large vehicle carriage.
Lack in the simplified schematic diagram of coupled mode six-freedom-degree manipulator for forging at Fig. 3 and motion shown in Figure 4, large
Vehicle carriage 1 bottom is connected with large chassis 2 by hinge, and wheel 3 symmetries are installed in the bottom of large chassis.Clamp 12 rear ends are connected with claw beam 13 front ends by hinge, this claw beam front end connects firmly in the central through hole of front connector 11, the rear end of this claw beam links to each other with pitching linear actuator 5 one ends by hinge, this pitching linear actuator other end connects firmly at linear actuator 10 middle parts, the rear left and right sides, should be connected by the middle part of hinge with rear lift arm 15 at rear linear actuator two ends, the left and right sides, a position of lift arm is connected on the large vehicle carriage two side by hinge B after being somebody's turn to do, another position of above-mentioned rear lift arm is connected with an end of a pair of synchronising (connecting) rod 8 by hinge, the middle part of this a pair of synchronising (connecting) rod is connected by the end of hinge with a pair of front and back linear actuator 6, the other end of this a pair of front and back linear actuator is connected on the large vehicle carriage two side by hinge D, the other end of above-mentioned a pair of synchronising (connecting) rod is connected by the middle part of hinge with a pair of front overhang peg 7, one end of this a pair of front overhang peg is connected with an end of front lift arm 14 by hinge, one position of this front lift arm is connected on the large vehicle carriage two side by hinge A, the other end of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator 4 by hinge, the other end of this a pair of lifting linear actuator is connected on the large vehicle carriage two side by hinge C, the other end of above-mentioned front overhang peg is connected with a pair of front left and right linear actuator 9 by hinge, and the other end of this front left and right linear actuator connects firmly the two ends at above-mentioned front connector.
Above-mentioned a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod and the equal left-right symmetry of a pair of front left and right linear actuator are installed on the large vehicle carriage.
Claims (4)
1. the coupled mode six-freedom-degree manipulator for forging is lacked in a motion, comprise that mainly cart moves and whirligig, the clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit, it is characterized in that: the cart bottom of frame is connected with large chassis by hinge, travel mechanism is installed on the large chassis, the clamp rear end is connected with the claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, the rear end of this claw beam links to each other with pitching linear actuator one end by hinge, this pitching linear actuator other end connects firmly at rear left and right sides linear actuator middle part, should be hinged on the rear lift arm by rear left and right sides linear actuator, a position of lift arm is connected through the hinge on large vehicle carriage two side after being somebody's turn to do, the other end of above-mentioned rear lift arm is connected with an end of a pair of synchronising (connecting) rod by hinge, the other end of this a pair of synchronising (connecting) rod is connected with an end of front lift arm by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side, one position of above-mentioned a pair of synchronising (connecting) rod is connected with an end of a pair of front overhang peg by hinge, the other end of this a pair of front overhang peg is connected with a pair of front left and right linear actuator by hinge, one end of this a pair of front left and right linear actuator connects firmly the two ends at above-mentioned front connector, one position of above-mentioned front overhang peg is connected by the end of hinge with a pair of front and back linear actuator, and the other end of this a pair of front and back linear actuator is connected through the hinge on large vehicle carriage two side.
2. the coupled mode six-freedom-degree manipulator for forging is lacked in motion according to claim 1, and it is characterized in that: a pair of lifting linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of front and back linear actuator and the equal symmetry of a pair of front left and right linear actuator are installed on the large vehicle carriage.
3. the coupled mode six-freedom-degree manipulator for forging is lacked in a motion, comprise that mainly cart moves and whirligig, the clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit, it is characterized in that: the cart bottom of frame is connected with large chassis by hinge, travel mechanism is installed on the large chassis, the clamp rear end is connected with the claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, the rear end of this claw beam links to each other with pitching linear actuator one end by hinge, this pitching linear actuator other end connects firmly at rear left and right sides linear actuator middle part, should be hinged on the rear lift arm by rear left and right sides linear actuator, a position of lift arm is connected through the hinge on large vehicle carriage two side after being somebody's turn to do, the other end of above-mentioned rear lift arm is connected with an end of a pair of synchronising (connecting) rod by hinge, one position of this a pair of synchronising (connecting) rod is connected by the end of hinge with a pair of front and back linear actuator, the other end of this a pair of front and back linear actuator is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned a pair of synchronising (connecting) rod is connected with a position of a pair of front overhang peg by hinge, one end of this a pair of front overhang peg is connected with an end of front lift arm by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned a pair of front overhang peg is connected with a pair of front left and right linear actuator by hinge, and an end of this front left and right linear actuator connects firmly the two ends at above-mentioned front connector.
4. the coupled mode six-freedom-degree manipulator for forging is lacked in motion according to claim 3, and it is characterized in that: a pair of lifting linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of front and back linear actuator and the equal symmetry of a pair of front left and right linear actuator are installed on the large vehicle carriage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210421419.5A CN102935480B (en) | 2012-10-30 | 2012-10-30 | Little kinematic coupling type six-degree-of-freedom forging manipulator |
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| CN201210421419.5A CN102935480B (en) | 2012-10-30 | 2012-10-30 | Little kinematic coupling type six-degree-of-freedom forging manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103381465A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT201800020245A1 (en) * | 2018-12-20 | 2020-06-20 | Vecchiato Off Mec S R L | APPARATUS FOR HANDLING PRODUCTS TO FORGE |
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| GB2080718B (en) * | 1980-05-24 | 1983-06-29 | Schloemann Siemag Ag | Gripping feed and gripper resilience cylinders on forging manipulators |
| CN1745937A (en) * | 2005-10-13 | 2006-03-15 | 上海交通大学 | Six-dimensional parallel forging operator |
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| CN202894190U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Sport less-coupling type six-freedom-degree forging operation machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1018774A1 (en) * | 1982-02-11 | 1983-05-23 | Рязанское производственное объединение "Тяжпрессмаш" | Manipulator |
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2012
- 2012-10-30 CN CN201210421419.5A patent/CN102935480B/en not_active Expired - Fee Related
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|---|---|---|---|---|
| GB2080718B (en) * | 1980-05-24 | 1983-06-29 | Schloemann Siemag Ag | Gripping feed and gripper resilience cylinders on forging manipulators |
| CZ299587B6 (en) * | 2001-05-17 | 2008-09-10 | Dango & Dienenthal Maschinenbau Gmbh | Forge manipulator |
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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) * |
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| CN103381465A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
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