CN102935482A - Synchronous connecting rod forwardly-connected forging manipulator - Google Patents
Synchronous connecting rod forwardly-connected forging manipulator Download PDFInfo
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- CN102935482A CN102935482A CN2012104219273A CN201210421927A CN102935482A CN 102935482 A CN102935482 A CN 102935482A CN 2012104219273 A CN2012104219273 A CN 2012104219273A CN 201210421927 A CN201210421927 A CN 201210421927A CN 102935482 A CN102935482 A CN 102935482A
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Abstract
The invention discloses a synchronous connecting rod forwardly-connected forging manipulator. A clamp is hinged with a clamp lever, a front connecting component is fixedly connected with the clamp lever and a front right-and-left linear actuator, a front lifting arm and a rear lifting arm are respectively hinged with a large vehicle frame, the two ends of a synchronous connecting rod are respectively hinged with the front lifting arm and the rear lifting arm, the two ends of a lifting linear actuator are respectively hinged with the rear lifting arm and the large vehicle frame, the two ends of a front suspension rod are respectively hinged with the front lifting arm and the front right-and-left linear actuator, a pitching linear actuator is respectively hinged with a rear right-and-left linear actuator and the clamp lever, the rear right-and-left linear actuator is hinged with the large vehicle frame, a front-and-rear linear actuator is hinged with the synchronous connecting rod in the scheme 1, the front-and-rear linear actuator is hinged with a middle right-and-left linear actuator in the scheme 2, and a rear connecting component is fixedly connected with the clamp lever and the middle right-and-left linear actuator. According to the invention, a mode that two synchronous connecting rods are forwardly connected is adopted, so that the stability and accuracy in motion are 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 a capital equipment realizing forging and pressing production mechanization, automation, is used 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 the Chinese patent of CN 101607296 A discloses a kind of upper connecting rod forward-only connecting type forging manipulator, the front and back upper boom that connects firmly on the front lift arm of this manipulator hoisting mechanism and the rear lift arm passes through respectively a chain connection on upper connecting rod, this forging manipulator lift portion only have a upper connecting rod with ball pivot and front lift arm be connected lift arm and be connected, weakened the integrated carrying ability of this type of manipulator.At present, also having some forging manipulators to adopt lower pair to connect, be the disclosed a kind of shaftless forging manipulator of Chinese patent of CN 201192720 Y such as publication number, but it can not satisfy the forging requirement of comprehensive six degree of freedom; There was restraint condition in some other mechanism, so that processing is comparatively difficult with assembling.
Summary of the inventionThe object of the present invention is to provide a kind ofly can strengthen kinetic stability, have the forging manipulator of six-freedom degree.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, described cart moves and whirligig comprises: large chassis, large vehicle carriage and travel mechanism, and its travel mechanism can be that moving sets also can be that wheel is installed on the large chassis, large chassis is connected with the cart bottom of frame by hinge.
Described clamp rotating device comprises: claw beam and clamp, and the clamp rear end is connected with the claw beam front end by hinge, and the 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.The two ends of front connector connect firmly the end at a pair of front left and right linear actuator, one position of this a pair of front left and right linear actuator and a pair of front overhang peg is hinged, 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 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, 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 lifting linear actuator by hinge, and the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side.
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 first kind of way is that an end of a pair of front and back linear actuator is connected by the other end of hinge with above-mentioned a pair of front overhang peg, and the other end of this a pair of front and back linear actuator is connected with a position of above-mentioned synchronising (connecting) rod by hinge.The second also comprises rear connectors, connected mode is that an end of a pair of front and back linear actuator is connected by the other end of hinge with above-mentioned a pair of front overhang peg, the other end of this a pair of front and back linear actuator and a pair of middle left and right sides linear actuator are hinged, one end of this a pair of middle left and right sides linear actuator connects firmly the two ends at rear connectors, and the centre bore of this rear connectors connects firmly the position at above-mentioned claw beam.
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 a pair of and front connector two ends connect firmly and middle part and pitching linear actuator connect firmly.It has two kinds of connected modes, and first kind of way is that the two ends of rear left and right sides linear actuator are connected through the hinge on large vehicle carriage two side.The second way also comprises a pair of middle left and right sides linear actuator that connects firmly with rear connectors.
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, a pair of front left and right linear actuator and the equal left-right symmetry of a pair of middle left and right sides linear actuator are installed on the large vehicle carriage.
The elevating movement process of above-mentioned the first forging manipulator: lift arm after a pair of lifting linear actuator promotes, driving front lift arm by synchronising (connecting) rod does up and down and is synchronized with the movement, driving a pair of front overhang peg, a pair of front left and right linear actuator and front connector moves up and down, thereby driving the claw beam front end moves up and down, simultaneously pitching linear actuator directly promotes the claw beam rear end, drive the claw beam rear end and move up and down, and then drive claw beam and clamp is done the horizontal lifting motion.Process seesaws: directly drive cart by travel mechanism first, drive forging behaviour does machine integral body and does and seesaw, 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: the pitching linear actuator directly promotes the claw beam rear end, it is done face upward up and down the motion of bowing, and the hinge axes position that a pair of front left and right linear drives links to each other with the front overhang peg remains unchanged, and does elevating movement thereby drive clamp.The transverse motion process: connector and claw beam rear end 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 elevating movement process of above-mentioned the second forging manipulator: lift arm after a pair of lifting linear actuator promotes, driving front lift arm by synchronising (connecting) rod does up and down and is synchronized with the movement, driving a pair of front overhang peg, a pair of front left and right linear actuator and front connector moves up and down, thereby driving the claw beam front end moves up and down, a pair of pitching linear actuator directly promotes the claw beam rear end simultaneously, drive the claw beam rear end and move up and down, and then the drive clamp is done the horizontal lifting motion.Process seesaws: directly drive cart 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: the pitching linear actuator directly promotes the claw beam rear end, it is done face upward up and down the motion of bowing, and the hinge axes position that a pair of front left and right linear drives links to each other with the front overhang peg remains unchanged, and does elevating movement thereby drive clamp.The transverse motion process: connector, rear connectors and rear end before a pair of front left and right linear actuator, a pair of middle left and right sides 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, adopt two synchronising (connecting) rods that front lift arm and rear lift arm are forward coupled together among the present invention, improved the bearing capacity of lift arm, two parts motion before and after having coordinated has strengthened stability and the accuracy of moving.
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.
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 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 connector, 14-rear connectors, 15-claw beam, 16-front lift arm, the 17-before left and right sides linear actuator, the 13-behind left and right sides linear actuator, the 12-among linear actuator, 7-front overhang peg, 8-synchronising (connecting) rod, 9-clamp, 10-front left and right linear actuator, the 11-before and after the large vehicle carriage of 1-, the large chassis of 2-, 3-wheel, 4-lifting linear actuator, 5-pitching linear actuator, 6-.
The specific embodiment:
In the simplified schematic diagram of synchronising (connecting) rod forward-only connecting type forging manipulator 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 2.Clamp 9 rear ends are connected with claw beam 15 front ends by hinge, claw beam 15 front ends connect firmly in the central through hole of front connector 13, the both sides of front connector 13 connect firmly respectively the end at a pair of front left and right linear actuator 10, this a pair of front left and right linear actuator 10 is hinged with a pair of front overhang peg 7 middle parts, these a pair of front overhang peg 7 one ends link to each other with front lift arm 16 1 ends by hinge, one position of this front lift arm 16 is connected on large vehicle carriage 1 two side by hinge A, above-mentioned front lift arm 16 other ends link to each other with an end of a pair of synchronising (connecting) rod 8 by hinge, the other end of this a pair of synchronising (connecting) rod 8 links to each other with rear lift arm 17 1 ends by hinge respectively, a position of lift arm 17 is connected on large vehicle carriage 1 two side by hinge B after being somebody's turn to do, the other end of above-mentioned rear lift arm 17 links to each other with a pair of lifting linear actuator 4 one ends by hinge, the other end of this a pair of lifting linear actuator 4 is connected on large vehicle carriage 1 two side by hinge D, the other end of above-mentioned a pair of front overhang peg 7 links to each other with a pair of front and back linear actuator 6 one ends by hinge, and these a pair of front and back linear actuator 6 other ends link to each other by a position of the above-mentioned a pair of synchronising (connecting) rod 8 of hinge.The rear end of above-mentioned claw beam 15 links to each other with pitching linear actuator 5 one ends by hinge, these pitching linear actuator 5 other ends connect firmly at linear actuator 12 middle parts, the rear left and right sides, and two ends of left and right sides linear actuator 12 are connected on large vehicle carriage 1 two side by hinge C after this.Above-mentioned a pair of lifting linear actuator 4, a pair of front and back linear actuator 6, a pair of front overhang peg 7, a pair of synchronising (connecting) rod 8 and a pair of front left and right linear actuator 10 equal left-right symmetry are installed on the large vehicle carriage.
In the simplified schematic diagram of Fig. 3 and synchronising (connecting) rod forward-only connecting type forging manipulator 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 2.Clamp 9 rear ends are connected with claw beam 15 front ends by hinge, claw beam 15 front ends connect firmly in the central through hole of front connector 13, the both sides of front connector 13 connect firmly respectively the end at a pair of front left and right linear actuator 10, the other end of this a pair of front left and right linear actuator 10 links to each other with a pair of front overhang peg 7 middle parts by hinge respectively, these a pair of front overhang peg 7 one ends link to each other with front lift arm 16 1 ends by hinge, one position of this front lift arm 16 is connected on large vehicle carriage 1 two side by hinge A, above-mentioned front lift arm 16 other ends link to each other with an end of a pair of synchronising (connecting) rod 8 by hinge, the other end of this a pair of synchronising (connecting) rod 8 links to each other with rear lift arm 17 1 ends by hinge respectively, a position of lift arm 17 is connected on large vehicle carriage 1 two side by hinge B after being somebody's turn to do, the other end of above-mentioned rear lift arm 17 links to each other with a pair of lifting linear actuator 4 one ends by hinge, the other end of this a pair of lifting linear actuator 4 is connected on large vehicle carriage 1 two side by hinge C, the other end of above-mentioned a pair of front overhang peg 7 links to each other with a pair of front and back linear actuator 6 one ends by hinge, these a pair of front and back linear actuator 6 other ends and a pair of middle left and right sides linear actuator 11 are hinged, the other end of left and right sides linear actuator 11 connects firmly the two ends at rear connectors 14 in being somebody's turn to do, the centre bore of this rear connectors 14 connects firmly the position at above-mentioned claw beam 15, the rear end of above-mentioned claw beam 15 links to each other with pitching linear actuator 5 one ends by hinge, these pitching linear actuator 5 other ends connect firmly at linear actuator 12 middle parts, the rear left and right sides, and two ends of left and right sides linear actuator 12 are connected on large vehicle carriage 1 two side by hinge D after this.Above-mentioned a pair of lifting linear actuator 4, a pair of front and back linear actuator 6, a pair of front overhang peg 7, a pair of synchronising (connecting) rod 8, a pair of front left and right linear actuator 10 and a pair of middle left and right sides linear actuator 11 equal left-right symmetry are installed on the large vehicle carriage.
Claims (4)
1. synchronising (connecting) rod forward-only connecting type forging manipulator, it comprises 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, the 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, the two ends of left and right sides linear actuator are connected on the large vehicle carriage two side by hinge after being somebody's turn to do, the two ends of above-mentioned front connector connect firmly the end at a pair of front left and right linear actuator, this front left and right linear actuator and a pair of front overhang peg one position are hinged, this a pair of 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 above-mentioned front lift arm other end links to each other with an end of a pair of synchronising (connecting) rod by hinge, the other end of this a pair of synchronising (connecting) rod links to each other with rear lift arm one end by hinge respectively, a position of lift arm is connected on the large vehicle carriage two side by hinge after being somebody's turn to do, the other end of above-mentioned rear lift arm links to each other with a pair of lifting linear actuator one end by hinge, the other end of this a pair of lifting linear actuator is connected on the large vehicle carriage two side by hinge, the other end of above-mentioned a pair of front overhang peg links to each other with a pair of front and back linear actuator one end by hinge, and this a pair of front and back linear actuator other end links to each other with a position of above-mentioned a pair of synchronising (connecting) rod by hinge.
2. synchronising (connecting) rod forward-only connecting type forging manipulator 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 left-right symmetry of a pair of front left and right linear actuator are installed on the large vehicle carriage.
3. synchronising (connecting) rod forward-only connecting type forging manipulator, it 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; 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, the 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, the two ends of left and right sides linear actuator are connected on the large vehicle carriage two side by hinge after being somebody's turn to do, the two ends of above-mentioned front connector connect firmly the end at a pair of front left and right linear actuator, this a pair of front left and right linear actuator and a pair of front overhang peg one position are hinged, this a pair of 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 above-mentioned front lift arm other end links to each other with an end of a pair of synchronising (connecting) rod by hinge, the other end of this a pair of synchronising (connecting) rod links to each other with rear lift arm one end by hinge respectively, a position of lift arm is connected on the large vehicle carriage two side by hinge after being somebody's turn to do, the other end of above-mentioned rear lift arm links to each other with a pair of lifting linear actuator one end by hinge, the other end of this a pair of lifting linear actuator is connected on the large vehicle carriage two side by hinge, the other end of above-mentioned a pair of front overhang peg links to each other with a pair of front and back linear actuator one end by hinge, this a pair of front and back linear actuator other end and a pair of middle left and right sides linear actuator are hinged, the other end of this a pair of middle left and right sides linear actuator connects firmly the two ends at rear connectors, and the centre bore of this rear connectors connects firmly the position at above-mentioned claw beam.
4. synchronising (connecting) rod forward-only connecting type forging manipulator according to claim 3, 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, a pair of front left and right linear actuator and the equal left-right symmetry of a pair of middle left and right sides linear actuator are installed on the large vehicle carriage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210421927.3A CN102935482B (en) | 2012-10-30 | 2012-10-30 | Synchronous connecting rod forwardly-connected forging manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210421927.3A CN102935482B (en) | 2012-10-30 | 2012-10-30 | Synchronous connecting rod forwardly-connected forging manipulator |
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| CN102935482A true CN102935482A (en) | 2013-02-20 |
| CN102935482B CN102935482B (en) | 2014-12-24 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106270344B (en) * | 2016-08-30 | 2020-04-24 | 上海交通大学 | Heavy-load forging operation robot |
| CN106378408B (en) * | 2016-08-30 | 2020-07-14 | 上海交通大学 | Energy-saving heavy-load forging operation robot |
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| 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 |
| JPH0531549A (en) * | 1991-07-26 | 1993-02-09 | Mitsubishi Nagasaki Kiko Kk | Synchronizing device for suspending peel carrier of forging manipulator |
| US5218855A (en) * | 1990-05-23 | 1993-06-15 | Eberhard Werner | Manipulator for forging machines, for example multiple-ram forging machines |
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2012
- 2012-10-30 CN CN201210421927.3A patent/CN102935482B/en not_active Expired - Fee Related
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