CN102935483B - Double-hanging-rod type forging manipulator with six degrees of freedom - Google Patents
Double-hanging-rod type forging manipulator with six degrees of freedom Download PDFInfo
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- CN102935483B CN102935483B CN201210423052.0A CN201210423052A CN102935483B CN 102935483 B CN102935483 B CN 102935483B CN 201210423052 A CN201210423052 A CN 201210423052A CN 102935483 B CN102935483 B CN 102935483B
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- 238000005242 forging Methods 0.000 title claims abstract description 33
- 239000000725 suspension Substances 0.000 claims abstract description 32
- 210000000078 claw Anatomy 0.000 claims description 34
- 230000033001 locomotion Effects 0.000 abstract description 23
- 238000000034 method Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 230000003028 elevating effect Effects 0.000 description 6
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
双悬挂杆式六自由度锻造操作机，其夹钳与钳杆前端铰接，前连接件与钳杆和前左右直线驱动器固联，中连接件与钳杆和中左右直线驱动器固联，后左右直线驱动器与钳杆固联，与后悬挂杆铰接，前悬挂杆与前左右直线驱动器和前提升臂铰接，后悬挂杆与后左右直线驱动器和后提升臂铰接，前提升臂和后提升臂铰接在大车车架上，前后直线驱动器与前悬挂杆与中左右直线驱动器铰接，俯仰直线驱动器与后提升臂和大车车架铰接，升降直线驱动器与后悬挂杆和前提升臂铰接，或俯仰直线驱动器与前、后提升臂铰接，升降直线驱动器与后悬挂杆和大车车架铰接。本发明能实现六自由度锻造操作，结构上采用双悬挂杆，保证了运动的稳定性与准确性。
Double-suspension rod type six-degree-of-freedom forging manipulator, the clamp is hinged with the front end of the clamp rod, the front connecting piece is fixedly connected with the clamp rod and the front left and right linear drives, the middle connecting piece is fixedly connected with the clamp rod and the middle, left and right linear drives, and the rear left and right linear drives are fixedly connected. The linear drive is fixedly connected to the clamp rod, hinged to the rear suspension rod, the front suspension rod is hinged to the front left and right linear drives and the front lift arm, the rear suspension rod is hinged to the rear left and right linear drive and the rear lift arm, and the front lift arm is hinged to the rear lift arm On the cart frame, the front and rear linear drives are hinged with the front suspension rod and the middle, left and right linear drives, the pitch linear drive is hinged with the rear lift arm and the frame of the cart, and the lift linear drive is hinged with the rear suspension rod and the front lift arm, or pitch The linear drive is hinged with the front and rear lifting arms, and the lifting linear drive is hinged with the rear suspension rod and the cart frame. The invention can realize six-degree-of-freedom forging operation, and adopts double suspension rods in structure to ensure the stability and accuracy of movement.
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 stamping production mechanization, automation, is used in conjunction with forging press.Current forging manipulator has steel wire hang formula, multi-bar linkage combined type etc.Steel wire hang formula forging manipulator operational capacity is less, and for small-sized forging, multi-bar linkage combined type forging manipulator operational capacity is large, for large-sized forging.Find through retrieval, publication number is that the Chinese patent of CN 102019340 A discloses a kind of forging manipulator, this manipulator directly couples together rear lift arm and claw beam rear end by driver, motion and the transmission of power all thus single driver complete, not only reduced mechanism's integrated carrying ability, also indirectly reduced driving force simultaneously, and it belongs to single hanger bar mechanism, the load-carrying of mechanism entirety all thus bar bear, be unfavorable for the adjustment to heavy forging blank pose.Publication number is the disclosed a kind of forging manipulator of CN 102303089 A Chinese patent, adopts lower pair to connect, but can not meet the forging requirement of comprehensive six degree of freedom.
summary of the inventionthe object of the present invention is to provide a kind of bearing capacity strong, there are two rod-type six-freedom-degree manipulator for forging that hang of 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 buffer unit.
Wherein, cart rotation and mobile device comprise: large chassis, large vehicle carriage and travel mechanism.Large chassis is connected with cart bottom of frame by hinge, and travel mechanism is arranged on large chassis, and this travel mechanism can be that moving sets can be also wheel.
Described clamp rotating device comprises: claw beam and clamp.Clamp rear end is connected with claw beam front end by hinge, and the front end of this claw beam connects firmly in the centre bore of front connector, and the middle part of this claw beam connects firmly in the centre bore of rear connectors, and the middle part of the rear end of this claw beam and a pair of rear left and right linear actuator connects firmly.
Described lifting device comprises: above-mentioned front connector and rear connectors, front lift arm, rear lift arm, a pair of lifting linear actuator, a pair of front overhang peg and a pair of rear suspension rods.It has two kinds of connected modes, first kind of way is that the both sides of above-mentioned front connector connect firmly with one end of a pair of front left and right linear actuator respectively, this front left and right linear actuator is hinged on a pair of front overhang peg, one end of this front overhang peg is connected with one 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, its other end is connected with one end of a pair of lifting linear actuator by hinge, the other end of this pair of lifting linear actuator is connected with one end of rear suspension rods by hinge, one position of this rear suspension rods is connected through the hinge on large vehicle carriage two side, its other end is connected with one end of rear lift arm by hinge, one position of this rear lift arm is connected through the hinge on large vehicle carriage two side.The second way is that the both sides of above-mentioned front connector connect firmly with one end of a pair of front left and right linear actuator respectively, this front left and right linear actuator is hinged on a pair of front overhang peg, the other end of this front overhang peg is connected with one 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, one position of rear lift arm is connected through the hinge on large vehicle carriage two side, one end of above-mentioned rear lift arm is connected with one end of rear suspension rods by hinge, one position of this rear suspension rods is connected with one end of a pair of lifting linear actuator by hinge, the other end of this lifting linear actuator is connected through the hinge on large vehicle carriage two side.
Described elevation mount comprises: a pair of pitching linear actuator.In above-mentioned first kind of way, one end of a pair of pitching linear actuator is connected with the other end of rear lift arm by hinge, and its other end is connected through the hinge on large vehicle carriage two side.In the above-mentioned second way, one end of a pair of pitching linear actuator is connected with the other end of front lift arm by hinge, and its other end is connected with the rear lift arm other end by hinge.
Described left and right buffer unit comprises: a pair of front left and right linear actuator, a centering left and right linear actuator and rear left and right linear actuator.One end of a pair of front left and right linear actuator connects firmly the both sides at above-mentioned front connector, one end of one centering left and right linear actuator connects firmly the both sides at middle connector, the middle part of rear left and right linear actuator and above-mentioned claw beam rear end connect firmly, and this rear left and right linear actuator is hinged on above-mentioned rear suspension rods.
Described front and back buffer unit comprises: a pair of front and back linear actuator.Linear actuator one end, a pair of front and back in above-mentioned first kind of way is connected with front lift arm by hinge, and its other end is connected with the other end of above-mentioned rear suspension rods by hinge.Linear actuator one end, a pair of front and back in the above-mentioned second way is connected with a position of above-mentioned front overhang peg by hinge, and its other end is connected with a centering left and right linear actuator by hinge.
Above-mentioned a pair of front overhang peg, a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of pitching linear actuator, a pair of front left and right linear actuator and all symmetrical being arranged on large vehicle carriage of a centering left and right linear actuator.
The elevating movement process of above-mentioned the first forging manipulator: 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 to do is up and down synchronized with the movement, thereby drive claw beam front end to move up and down, a pair of pitching linear actuator directly promotes rear lift arm simultaneously, drive claw beam rear end to move up and down, and then drive claw beam and clamp to move up and down.Process seesaws: first directly drive cart by travel mechanism, drive forging manipulator entirety to seesaw, in the time that forging manipulator clamp approaches processing work, 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 to do front and back back and forth movement, and then drive clamp to seesaw.Elevating movement process: lift arm after a pair of pitching linear actuator promotes, the claw beam rear end that drives rear suspension rods and rear left and right linear actuator and connect firmly with it is done and is faced upward up and down the motion of bowing, and the hinge axes position that front left and right linear drives is connected with front overhang peg remains unchanged, thereby drive clamp to do elevating movement.Transverse motion process: connector and rear connectors and claw beam thereof before a pair of front left and right linear actuator, a centering left and right linear actuator and a pair of rear left and right linear actuator drive respectively in the same way, drive claw beam and clamp to do transverse movement.Clamp rotation process: by driving Shi Qirao rear end, clamp rear end hinge axes to rotate.Oscillating motion process: by driving cart bottom of frame that it is rotated around bottom hinge axis, drive forging manipulator Integral swinging, realize the stable oscillating motion of clamp.
The elevating movement process of above-mentioned the second forging manipulator: a pair of lifting linear actuator promotes a pair of rear suspension rods, after driving, lift arm, a pair of pitching linear actuator, a pair of front overhang peg, a pair of front left and right linear actuator and front connector do up and down and are synchronized with the movement, thereby drive claw beam to move up and down, and then drive claw beam and clamp to move up and down.Process seesaws: first directly drive cart by travel mechanism, drive forging manipulator entirety to seesaw, in the time that forging manipulator clamp approaches processing work, 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 to do front and back back and forth movement, and then drive clamp to seesaw.Elevating movement process: a pair of pitching linear actuator promotes front lift arm, the claw beam that drives front overhang peg, front left and right linear actuator and front connector and connect firmly with it does faces upward the motion of bowing up and down, the hinge axes position that then left and right linear drives is connected with rear suspension rods remains unchanged, thereby drives clamp to do elevating movement.Transverse motion process: connector and rear connectors and claw beam thereof before a pair of front left and right linear actuator, a centering left and right linear actuator and a pair of rear left and right linear actuator drive respectively in the same way, drive claw beam and clamp to do transverse movement.Clamp rotation process: by driving Shi Qirao rear end, clamp rear end hinge axes to rotate.Oscillating motion process: by driving cart bottom of frame that it is rotated around bottom hinge axis, drive forging manipulator Integral swinging, realize the stable oscillating motion of clamp.
The present invention compared with prior art tool has the following advantages:
1, the present invention adopts two hanger bar devices, has ensured stationarity and the accuracy of motion, has improved the bearing capacity of manipulator.
2, clamp of the present invention has six-freedom degree, can clamp by forger part and forge flexibly under various orientation and various attitude.
brief description of the drawings:
Fig. 1 is that the master of the embodiment of the present invention 1 looks simplified schematic diagram.
Fig. 2 is the inner three-dimensional simplified schematic diagram of the large vehicle carriage of Fig. 1.
Fig. 3 is that the master of the embodiment of the present invention 2 looks simplified schematic diagram.
Fig. 4 is the inner three-dimensional simplified schematic diagram of the large vehicle carriage of Fig. 3.
In figure: lift arm after connector, 15-claw beam, 16-front lift arm, 17-in connector, 14-before left and right linear actuator, 13-after left and right linear actuator, 12-in linear actuator, 7-front overhang peg, 8-rear suspension rods, 9-clamp, 10-front left and right linear actuator, 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-.
detailed description of the invention:
embodiment 1
In a kind of two simplified schematic diagram that hang rod-type six-freedom-degree manipulator for forging shown in Fig. 1 and Fig. 2, cart bottom of frame is connected with large chassis by hinge, and wheel symmetry is arranged on large chassis.Clamp rear end is connected with claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, the both sides of this front connector connect firmly with one end of a pair of front left and right linear actuator respectively, this a pair of front left and right linear actuator is hinged on a pair of front overhang peg, one end of this pair of front overhang peg is connected with one end of front lift arm by hinge, the other end of this front lift arm is connected with one end of a pair of lifting linear actuator by hinge, the other end of this pair of lifting linear actuator is connected with one end of rear suspension rods by hinge, one position of this rear suspension rods and rear left and right linear actuator are hinged, the middle part of this rear left and right linear actuator connects firmly the rear end at above-mentioned claw beam, the middle part of above-mentioned claw beam connects firmly in the centre bore of middle connector, in this, the both sides of connector connect firmly with one end of a centering left and right linear actuator respectively, this centering left and right linear actuator is hinged on the linear actuator of a pair of front and back, one end of this pair of front and back linear actuator is connected with the other end of above-mentioned front overhang peg by hinge respectively, one position of above-mentioned front lift arm is connected on large vehicle carriage two side by hinge A, the other end of above-mentioned rear suspension rods is connected with one end of rear lift arm by hinge, the other end of this rear lift arm is connected with one end of a pair of pitching linear actuator by hinge respectively, the other end of this pair of pitching linear actuator is connected on large vehicle carriage two side by hinge C respectively, one position of above-mentioned rear lift arm is connected on large vehicle carriage two side by hinge B.
Above-mentioned a pair of front overhang peg, a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of pitching linear actuator, a pair of front left and right linear actuator, all symmetrical being arranged on large vehicle carriage of a centering left and right linear actuator.
Embodiment 2
In a kind of two simplified schematic diagram that hang rod-type six-freedom-degree manipulator for forging shown in Fig. 3 and Fig. 4, cart bottom of frame is connected with large chassis by hinge, and wheel symmetry is arranged on the bottom of large chassis.Clamp rear end is connected with claw beam front end by hinge, claw beam front end connects firmly in the central through hole of front connector, the both sides of this front connector connect firmly with one end of a pair of front left and right linear actuator respectively, being hinged on a pair of front overhang peg of this pair of front left and right linear actuator, the other end of this pair of front overhang peg is connected with one end of front lift arm by hinge respectively, the other end of this front lift arm is connected with one end of a pair of pitching linear actuator by hinge respectively, the other end of this pair of pitching linear actuator is connected with one end of rear lift arm by hinge respectively, the other end of this rear lift arm is connected with one end of rear suspension rods by hinge, one position of this rear suspension rods and rear left and right linear actuator are hinged, the middle part of this rear left and right linear actuator connects firmly the rear end at claw beam, the middle part of above-mentioned claw beam connects firmly in the centre bore of middle connector, in this, the both sides of connector connect firmly with one end of a centering left and right linear actuator respectively, this centering left and right linear actuator is hinged on one end of a pair of front and back linear actuator, the other end of this pair of front and back linear actuator is connected with a position of above-mentioned front overhang peg by hinge respectively, one position of above-mentioned front lift arm is connected on large vehicle carriage two side by hinge A, one position of above-mentioned rear lift arm is connected on large vehicle carriage two side by hinge B, one position of above-mentioned rear suspension rods is connected with one end of a pair of lifting linear actuator by hinge, the other end of this pair of lifting linear actuator is connected on large vehicle carriage two side by hinge C respectively.
Above-mentioned a pair of front overhang peg, a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of pitching linear actuator, a pair of front left and right linear actuator, all symmetrical being arranged on large vehicle carriage of a centering left and right linear actuator.
Claims (4)
1. two rod-type six-freedom-degree manipulator for forging that hangs, it is characterized in that: cart bottom of frame is connected with large chassis by hinge, travel mechanism is arranged on large chassis, clamp rear end is connected with claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, the both sides of this front connector connect firmly with one end of a pair of front left and right linear actuator respectively, this a pair of front left and right linear actuator is hinged on a pair of front overhang peg, one end of this pair of front overhang peg is connected with one end of front lift arm by hinge, the other end of this front lift arm is connected with one end of a pair of lifting linear actuator by hinge, the other end of this pair of lifting linear actuator is connected with one end of rear suspension rods by hinge, one position of this rear suspension rods and rear left and right linear actuator are hinged, the middle part of this rear left and right linear actuator and the rear end of above-mentioned claw beam connect firmly, the middle part of above-mentioned claw beam connects firmly in the centre bore of middle connector, in this, one end of the both sides of connector and a centering left and right linear actuator connects firmly, one end of this centering left and right linear actuator and a pair of front and back linear actuator is hinged, the other end of this pair of front and back linear actuator is connected with the other end of front overhang peg by hinge respectively, one position of above-mentioned front lift arm is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned rear suspension rods is connected with one end of rear lift arm by hinge, the other end of this rear lift arm is connected with one end of a pair of pitching linear actuator by hinge respectively, the other end of this pair of pitching linear actuator is connected through the hinge respectively on large vehicle carriage two side, one position of above-mentioned rear lift arm is connected through the hinge on large vehicle carriage two side.
2. two rod-type six-freedom-degree manipulator for forging that hangs according to claim 1, is characterized in that: all symmetrical being arranged on large vehicle carriage of described a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of front left and right linear actuator and middle left and right linear actuator.
3. two rod-type six-freedom-degree manipulator for forging that hangs, it is characterized in that: cart bottom of frame is connected with large chassis by hinge, travel mechanism is arranged on large chassis, clamp rear end is connected with claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, the both sides of this front connector connect firmly with one end of a pair of front left and right linear actuator respectively, this a pair of front left and right linear actuator is hinged on a pair of front overhang peg, the other end of this pair of front overhang peg is connected with one end of front lift arm by hinge respectively, the other end of this front lift arm is connected with one end of a pair of pitching linear actuator by hinge respectively, the other end of this pair of pitching linear actuator is connected with one end of rear lift arm by hinge respectively, the other end of this rear lift arm is connected with one end of rear suspension rods by hinge, the other end of this rear suspension rods and rear left and right linear actuator are hinged, the middle part of this rear left and right linear actuator and the rear end of above-mentioned claw beam connect firmly, the middle part of above-mentioned claw beam connects firmly in the centre bore of middle connector, in this, the both sides of connector connect firmly with one end of a centering left and right linear actuator respectively, one end of this centering left and right linear actuator and a pair of front and back linear actuator is hinged, the other end of this pair of front and back linear actuator is hinged on front overhang peg, one position of above-mentioned front lift arm and a position of above-mentioned rear lift arm are connected through the hinge respectively on large vehicle carriage two side, one position of above-mentioned rear suspension rods is connected with one end of a pair of lifting linear actuator by hinge, the other end of this pair of lifting linear actuator is connected through the hinge respectively on large vehicle carriage two side.
4. two rod-type six-freedom-degree manipulator for forging that hangs according to claim 3, it is characterized in that all symmetrical being arranged on large vehicle carriage of described a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of front left and right linear actuator and middle left and right linear actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210423052.0A CN102935483B (en) | 2012-10-30 | 2012-10-30 | Double-hanging-rod type forging manipulator with six degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210423052.0A CN102935483B (en) | 2012-10-30 | 2012-10-30 | Double-hanging-rod type forging manipulator with six degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102935483A CN102935483A (en) | 2013-02-20 |
| CN102935483B true CN102935483B (en) | 2014-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210423052.0A Expired - Fee Related CN102935483B (en) | 2012-10-30 | 2012-10-30 | Double-hanging-rod type forging manipulator with six degrees of freedom |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1627660A1 (en) * | 1966-02-16 | 1970-05-06 | Zdarske Strojirny A Slevarny | Device for manipulating with blanks, in particular rough blocks |
| DE1804619A1 (en) * | 1968-10-23 | 1970-05-27 | Friedhelm Schwarz | Forging plant manipulator |
| SU493087A1 (en) * | 1974-04-01 | 1986-06-30 | Рязанский завод тяжелого кузнечно-прессового оборудования | Floor forging manipulator |
| CN101279353B (en) * | 2008-05-22 | 2010-06-23 | 上海交通大学 | Equidirectional type six-freedom-degree manipulator for forging |
| CN101607296B (en) * | 2009-07-23 | 2010-12-08 | 上海交通大学 | Forging manipulator with forward connection of upper connecting rod |
| CN101791674B (en) * | 2010-03-26 | 2011-09-14 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN202894195U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Double suspension rods type six free degrees forging operating machine |
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2012
- 2012-10-30 CN CN201210423052.0A patent/CN102935483B/en not_active Expired - Fee Related
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| CN102935483A (en) | 2013-02-20 |
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