CN102935481A - Suspension type forging manipulator of lifting mechanism - Google Patents
Suspension type forging manipulator of lifting mechanism Download PDFInfo
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- CN102935481A CN102935481A CN201210421730XA CN201210421730A CN102935481A CN 102935481 A CN102935481 A CN 102935481A CN 201210421730X A CN201210421730X A CN 201210421730XA CN 201210421730 A CN201210421730 A CN 201210421730A CN 102935481 A CN102935481 A CN 102935481A
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Abstract
The invention relates to a suspension type forging manipulator of a lifting mechanism. The suspension type forging manipulator is characterized in that a pair of front suspension rods are respectively articulated with a front lifting arm and synchronization connecting rods, front-rear linear drivers are respectively articulated with a cart frame and the front suspension rods, and the synchronization connecting rods are articulated with a rear lifting arm; lifting linear drivers are articulated with the synchronization connecting rods and the front lifting arm, and the front lifting arm and the rear lifting arm are respectively articulated on the cart frame; the outer ends of rear left-right linear drivers are articulated with the rear lifting arm, the inner ends of the rear left-right linear drivers are fixedly connected with a pitching linear driver, a nippling lever is fixedly connected on the middle of a front connecting piece, and is articulated with the pitching linear driver and a clamp forceps; and the inner ends of front left-right linear drivers are fixedly connected on the two sides of the front connecting piece, the outer ends of the front left-right linear drivers are articulated with the front suspension rods, and the cart frame is articulated with a cart chassis. According to the he suspension type forging manipulator provided by the invention, the six-freedom-degree forging operation is realized, the lifting motion space is increased, the whole the suspension type forging manipulator uses a lower pair, the cost is reduced, and the installation is convenient.
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.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 retrieval, publication number is that CN 101791674 A prior aries disclose a kind of forging manipulator lifting mechanism, and this manipulator is that the lift cylinders lower end directly is connected through the hinge with large vehicle carriage; Also find through retrieval, publication number is that CN 101879571 A disclose a kind of forging manipulator lifting mechanism with inclined rear suspension rods, the drive unit of this manipulator hoisting mechanism directly is connected with frame, and this manipulator rear suspension rods is to link to each other with the claw beam rear portion with ball pivot equally, has weakened the integrated carrying ability of this type of manipulator.At present, also there are some forging manipulators to adopt lower pair to connect, all adopt lower pair to connect such as each junction of DYH series forging manipulator, but can not satisfy the forging requirement of comprehensive six degree of freedom; And there was constraint in some mechanism, made its processing and assembling comparatively difficult.
Summary of the inventionThe object of the present invention is to provide a kind of hoisting mechanism pendent-type forging operating machine that can increase room for promotion, be convenient to install, have six-freedom degree.The present invention mainly comprises cart rotation and mobile device, clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit.
Wherein, cart rotation and mobile device comprise: 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 front overhang peg, a pair of synchronising (connecting) rod, a pair of lifting linear actuator.The both sides of front connector 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 is hinged on a pair of front overhang peg, this front overhang peg one end links to each other with front lift arm one end 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 links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator links to each other with a position of a pair of synchronising (connecting) rod by hinge, and an end of this a pair of synchronising (connecting) rod is connected with an end of rear lift arm by hinge.
Described elevation mount comprises: the pitching linear actuator.One end of this pitching linear actuator links to each other with above-mentioned claw beam rear end by hinge, and its other end 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.One end of this a pair of front and back linear actuator links to each other by the other end of hinge with above-mentioned front overhang peg, 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 front left and right linear actuator that above-mentioned a pair of and front connector both sides connect firmly and a rear left and right sides linear actuator that connects firmly with the pitching linear actuator.
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.
Each motion of forging manipulator is driven by each device respectively and finishes.The elevating movement process: a pair of lifting rectilinear motion device 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 driving the claw beam front end moves up and down, simultaneously pitching linear actuator directly promotes claw beam, drive the claw beam rear end and move up and down, and then drive claw beam and clamp moves up and down.Process seesaws: directly drive large chassis and large vehicle carriage by travel 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 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: pitching linear actuator promotion claw beam rear end is done and is faced upward up and down the motion of bowing, and the hinge axes position that the front left and right linear actuator links to each other with the front overhang peg remains unchanged, and does elevating movement thereby drive clamp.The transverse motion process: connector and pitching linear actuator 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, thus drive claw beam and clamp are done 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 lifting device among the present invention adopts suspension type, has increased the space of lifter motion.
2, clamp of the present invention has six-freedom degree, but clamping is forged under various orientation and various attitude flexibly by the forger part.
3, there was not restraint condition in the whole mechanism of the present invention, was convenient to installation, current check and maintenance.
4, 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 looks simplified schematic diagram.
Fig. 2 is the inner three-dimensional simplified schematic diagram of large vehicle carriage among Fig. 1.
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:
In the simplified schematic diagram of a kind of hoisting mechanism pendent-type forging operating machine illustrated in figures 1 and 2, the cart bottom of frame is connected with large chassis by hinge, and the wheel symmetry is installed in the bottom of 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, should before the two ends of connector 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 is hinged on a pair of front overhang peg, 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 on large vehicle carriage 1 two side by hinge A, the rear end of above-mentioned 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 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 by hinge, the middle part of this a pair of synchronising (connecting) rod 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 with an end of front lift arm by hinge, another position of above-mentioned a pair of front overhang peg is connected with the other end of above-mentioned a pair of synchronising (connecting) rod by hinge, the other end of above-mentioned a pair of 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 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, the equal left-right symmetry of a pair of front left and right linear actuator are installed on the large vehicle carriage.
Claims (2)
1. hoisting mechanism pendent-type forging operating machine, 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 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 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 front overhang peg by hinge, one end of a pair of front left and right linear actuator is hinged on the above-mentioned a pair of front overhang peg, the other end of above-mentioned a pair of front left and right linear actuator connects firmly the two ends at above-mentioned front connector, another position of above-mentioned a pair of front overhang peg is connected with the other end of above-mentioned a pair of synchronising (connecting) rod by hinge, the other end of this a pair of 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. a kind of hoisting mechanism pendent-type forging operating machine according to claim 1, it is characterized in that: its 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 symmetry of a pair of front left and right linear actuator are installed on the large vehicle carriage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210421730.XA CN102935481B (en) | 2012-10-30 | 2012-10-30 | Suspension type forging manipulator of lifting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210421730.XA CN102935481B (en) | 2012-10-30 | 2012-10-30 | Suspension type forging manipulator of lifting mechanism |
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| Publication Number | Publication Date |
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| CN102935481A true CN102935481A (en) | 2013-02-20 |
| CN102935481B CN102935481B (en) | 2015-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210421730.XA Expired - Fee Related CN102935481B (en) | 2012-10-30 | 2012-10-30 | Suspension type forging manipulator of lifting mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN104014706A (en) * | 2014-06-05 | 2014-09-03 | 燕山大学 | Large-tonnage lifting mechanism for trackless forging manipulator |
| CN106270344A (en) * | 2016-08-30 | 2017-01-04 | 上海交通大学 | Heavy duty forging operation machine people |
| CN106378408A (en) * | 2016-08-30 | 2017-02-08 | 上海交通大学 | Novel energy-saving heavy-load forging robot |
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| US3696651A (en) * | 1970-04-30 | 1972-10-10 | Davy & United Eng Co Ltd | Forging manipulator |
| DE3019971A1 (en) * | 1980-05-24 | 1981-12-03 | Schloemann-Siemag AG, 4000 Düsseldorf | PLIER FEED AND SPRING CYLINDERS ON FORGING MANIPULATORS |
| US4393683A (en) * | 1980-06-07 | 1983-07-19 | Sms Schloemann-Siemag Aktiengesellschaft | Traction drive for forging manipulators |
| US4815311A (en) * | 1986-07-31 | 1989-03-28 | Sms Hasenclever Maschinenfabrik Gmbh | Forging manipulator |
| DE3831184A1 (en) * | 1987-09-18 | 1989-04-06 | Hasenclever Maschf Sms | Integrated control for a manipulator, and open-die forging press interacting with the latter and a manipulator with a measuring device for this purpose |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
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| CN202894193U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Lifting mechanism suspension type forging manipulator |
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2012
- 2012-10-30 CN CN201210421730.XA patent/CN102935481B/en not_active Expired - Fee Related
Patent Citations (9)
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| US3696651A (en) * | 1970-04-30 | 1972-10-10 | Davy & United Eng Co Ltd | Forging manipulator |
| DE3019971A1 (en) * | 1980-05-24 | 1981-12-03 | Schloemann-Siemag AG, 4000 Düsseldorf | PLIER FEED AND SPRING CYLINDERS ON FORGING MANIPULATORS |
| US4393683A (en) * | 1980-06-07 | 1983-07-19 | Sms Schloemann-Siemag Aktiengesellschaft | Traction drive for forging manipulators |
| US4815311A (en) * | 1986-07-31 | 1989-03-28 | Sms Hasenclever Maschinenfabrik Gmbh | Forging manipulator |
| DE3831184A1 (en) * | 1987-09-18 | 1989-04-06 | Hasenclever Maschf Sms | Integrated control for a manipulator, and open-die forging press interacting with the latter and a manipulator with a measuring device for this purpose |
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Non-Patent Citations (1)
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| 马波等: "锻造操作机升降倾斜机构的设计", 《重型机械》, no. 3, 30 June 2012 (2012-06-30) * |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN103537598B (en) * | 2013-09-23 | 2015-04-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN103537604B (en) * | 2013-09-23 | 2015-09-16 | 燕山大学 | A kind of six-freedom-degree manipulator for forging |
| CN104014706A (en) * | 2014-06-05 | 2014-09-03 | 燕山大学 | Large-tonnage lifting mechanism for trackless forging manipulator |
| CN104014706B (en) * | 2014-06-05 | 2015-11-18 | 燕山大学 | A kind of large-tonnage trackless forging manipulator lifting mechanism |
| CN106270344A (en) * | 2016-08-30 | 2017-01-04 | 上海交通大学 | Heavy duty forging operation machine people |
| CN106378408A (en) * | 2016-08-30 | 2017-02-08 | 上海交通大学 | Novel energy-saving heavy-load forging robot |
| CN106270344B (en) * | 2016-08-30 | 2020-04-24 | 上海交通大学 | Heavy-load forging operation robot |
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| Publication number | Publication date |
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| CN102935481B (en) | 2015-04-08 |
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Granted publication date: 20150408 Termination date: 20171030 |