CN102941304A - Decoupling type forging manipulator for motion part - Google Patents
Decoupling type forging manipulator for motion part Download PDFInfo
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- CN102941304A CN102941304A CN2012104215484A CN201210421548A CN102941304A CN 102941304 A CN102941304 A CN 102941304A CN 2012104215484 A CN2012104215484 A CN 2012104215484A CN 201210421548 A CN201210421548 A CN 201210421548A CN 102941304 A CN102941304 A CN 102941304A
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Abstract
A decoupling type forging manipulator for a motion part adopts the structure that a clamp is hinged with a nippling lever fixedly connected to the middle of the a front coordination lever; a front suspension lever is hinged with the front coordination lever; a front connecting part is hinged with a front slide bar and the front suspension lever; a front left-and-right linear driver is fixed with a front lifting arm and the front slider bar respectively; a synchronous connecting rod is hinged with the front lifting arm and a back lifting arm respectively; a back left-and-right linear driver is fixedly connected with the back lifting arm and a back slide bar respectively; a pitching linear driver is hinged with the back slide bar and the back end of the nippling lever; the front lifting arm and the back lifting arm are respectively hinged with a rack; a front-and-back linear driver is hinged with the front suspension lever and a back coordination lever which is hinged with the rack; and a lifting linear driver is hinged with the back lifting arm and the rack. The decoupling type forging manipulator has high accuracy in deflection and motion part decoupling performance, is easy to analyze kinematics and dynamics, and is convenient to operate.
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 retrieval, 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 a simple motion finishing clamp needs All Drives to cooperate together just and can finish, thereby will adjust the accurate pose of clamp, and comparatively difficulty operates, increase the working time, reduced operating efficiency.Retrieval finds that also publication number is that CN201192720Y discloses a kind of shaftless forging manipulator, and its mechanism's yaw motion is by the cart unitary rotation, realize the deflection of clamp, and mechanism itself do not possess this free degree of deflection, therefore, among a small circle deflection precision is not high, affects the forging process quality.
Summary of the inventionThe object of the present invention is to provide a kind of componental movement decoupling zero, can increase work efficiency and forging manipulator that the deflection precision is high.The present invention mainly comprises clamp rotation device, lifting device, elevation mount, front and back buffer unit and deflection offset assembly.Described clamp rotation device comprises: claw beam and clamp; Described lifting device comprises: front lift arm, rear lift arm, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of lifting linear actuator, a pair of front connector; Described elevation mount comprises: the pitching linear actuator; Described front and back buffer unit comprises: a pair of front and back linear actuator; Described deflection offset assembly comprises: a pair of front left and right linear actuator, a pair of rear left and right sides linear actuator.
Wherein, the clamp rear end links to each other with the claw beam front end by turning joint, this claw beam connects firmly near a position of clamp and the middle part of front coordination bar, should frontly coordinate the bar two ends links to each other with an end of a pair of front overhang peg respectively by ball pivot, the other end of this a pair of front overhang peg links to each other with an end of a pair of front connector by turning joint respectively, the other end of this a pair of front connector is connected on the front slide bar by turning joint respectively, should before the two ends of slide bar 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 connects firmly with an end of front lift arm respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear actuator respectively, the other end of this a pair of rear left and right sides linear actuator and the two ends of rear slide bar connect firmly, one end of pitching linear actuator is connected on the above-mentioned rear slide bar by turning joint, its other end links to each other with the rear end of above-mentioned claw beam by the ball pair, one position of above-mentioned front lift arm and a position of rear lift arm link to each other with frame by turning joint respectively, one position of above-mentioned front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator respectively, the other end of this a pair of front and back linear actuator links to each other with an end of rear coordination bar by ball pivot respectively, should link to each other with frame by turning joint at rear middle part of coordinating bar, another position of above-mentioned rear lift arm links to each other with an end of a pair of lifting linear actuator by turning joint respectively, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint respectively.
The elevating movement process of forging manipulator of the present invention: lift arm after a pair of lifting linear actuator promotes, drive a pair of rear left and right sides linear actuator, the motion of pitching linear actuator, and then drive claw beam rear end moves up and down, pass through simultaneously synchronising (connecting) rod, drive front lift arm, front left and right linear actuator, front slide bar, front connector, the motion of front overhang peg, and then drive the claw beam front end and move up and down, thereby realize that claw beam and clamp do the horizontal lifting motion.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, and drive claw beam and clamp are done and seesawed.The elevating movement process: the pitching linear actuator promotes the claw beam rear end, and drive claw beam rear end is done and faced upward up and down the motion of bowing, and claw beam front end and front overhang peg position remain unchanged, and do elevating movement thereby drive clamp.The deflection motion process: slide bar before a pair of front left and right linear actuator promotes, drive a pair of front connector and a pair of front overhang peg, realize transverse shifting from the anterior claw beam that drives of claw beam; Slide bar after a pair of rear left and right sides linear actuator promotes drives the pitching linear actuator, drives claw beam from the claw beam rear portion and realizes transverse shifting.Consistent with a pair of rear left and right sides linear actuator driving direction and big or small when identical when a pair of front left and right linear actuator, claw beam is realized offset movement; When a pair of front left and right linear actuator and a pair of after the opposite or driving amount of left and right sides linear actuator driving direction not simultaneously, claw beam is realized oscillating motion.Clamp rotary course: it is rotated by driving the clamp rear end around the rear end hinge axes.
The present invention compared with prior art has following advantage:
1, the present invention only has the lifter motion coupling, and degree of coupling is little, and other each main motion is all full decoupled, so that simple to operate.
2, the present invention self mechanism possesses the deflection free degree, and among a small circle deflection precision is high, has improved the forging process quality.
Description of drawings
Fig. 1 is the schematic perspective view of the embodiment of the invention.
Among the figure: coordinate behind linear actuator, 4-pitching linear actuator, the 5-before and after the 1-clamp, 2-claw beam, 3-bar, 6-lifting linear actuator,, coordinate bar before connector, 16-front overhang peg, the 17-before slide bar, the 15-before left and right sides linear actuator, 10-synchronising (connecting) rod, 11-frame, 12-front lift arm, 13-front left and right linear actuator, the 14-behind slide bar, the 9-behind lift arm, the 8-behind the 7-.
The specific embodiment
In the schematic diagram of mechanism of a kind of motion parts decoupling type forging manipulator forging manipulator shown in Figure 1, clamp 1 rear end links to each other with claw beam 2 front ends by turning joint, this claw beam connects firmly near a position of clamp and the middle part of front coordination bar 17, should frontly coordinate the bar two ends links to each other with an end of a pair of front overhang peg 16 respectively by ball pivot, the other end of this a pair of front overhang peg links to each other with an end of a pair of front connector 15 by turning joint respectively, the other end of this a pair of front connector is connected on the front slide bar 14 by turning joint respectively, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator 13 respectively, the other end of this a pair of front left and right linear actuator connects firmly with an end of front lift arm 12 respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod 10 by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm 7 by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear actuator 9 respectively, the other end of this a pair of rear left and right sides linear actuator and the two ends of rear slide bar 8 connect firmly, one end of pitching linear actuator 4 is connected on the above-mentioned rear slide bar by turning joint, this pitching linear actuator other end links to each other with the rear end of above-mentioned claw beam by ball pivot, one position of above-mentioned front lift arm and a position of rear lift arm link to each other with frame 11 by turning joint respectively, one position of above-mentioned front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator 3 respectively, the other end of this a pair of front and back linear actuator links to each other by the two ends of ball pivot with rear coordination bar 5 respectively, should link to each other with frame by turning joint at rear middle part of coordinating bar, another position of above-mentioned a pair of rear lift arm links to each other with an end of a pair of lifting linear actuator 6 by turning joint respectively, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint respectively.
Claims (1)
1. motion parts decoupling type forging manipulator, it is characterized in that: the clamp rear end links to each other with the claw beam front end by turning joint, this claw beam connects firmly near a position of clamp and the middle part of front coordination bar, should frontly coordinate the bar two ends links to each other with an end of a pair of front overhang peg respectively by ball pivot, the other end of this a pair of front overhang peg links to each other with an end of a pair of front connector by turning joint respectively, the other end of this a pair of front connector is connected on the front slide bar by turning joint respectively, should before the two ends of slide bar 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 connects firmly with an end of front lift arm respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear actuator respectively, the other end of this a pair of rear left and right sides linear actuator and the two ends of rear slide bar connect firmly, one end of pitching linear actuator is connected on the above-mentioned rear slide bar by turning joint, its other end links to each other with the rear end of above-mentioned claw beam by the ball pair, one position of above-mentioned front lift arm and a position of rear lift arm link to each other with frame by turning joint respectively, one position of above-mentioned front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator respectively, the other end of this a pair of front and back linear actuator links to each other with an end of rear coordination bar by ball pivot respectively, should link to each other with frame by turning joint at rear middle part of coordinating bar, another position of above-mentioned rear lift arm links to each other with an end of a pair of lifting linear actuator by turning joint respectively, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210421548.4A CN102941304B (en) | 2012-10-30 | 2012-10-30 | Decoupling type forging manipulator for motion part |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210421548.4A CN102941304B (en) | 2012-10-30 | 2012-10-30 | Decoupling type forging manipulator for motion part |
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| Publication Number | Publication Date |
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| CN102941304A true CN102941304A (en) | 2013-02-27 |
| CN102941304B CN102941304B (en) | 2015-06-10 |
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| CN201210421548.4A Expired - Fee Related CN102941304B (en) | 2012-10-30 | 2012-10-30 | Decoupling type forging manipulator for motion part |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10128451B4 (en) * | 2001-05-17 | 2005-02-03 | Dango & Dienenthal Maschinenbau Gmbh | forging manipulator |
| CN101279353A (en) * | 2008-05-22 | 2008-10-08 | 上海交通大学 | Equidirectional type six-freedom-degree manipulator for forging |
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN101879571A (en) * | 2010-06-02 | 2010-11-10 | 燕山大学 | Forging manipulator lifting mechanism with inclined rear suspension rods |
| CN102728763A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN202894192U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Motion partly decoupling forging manipulator |
-
2012
- 2012-10-30 CN CN201210421548.4A patent/CN102941304B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10128451B4 (en) * | 2001-05-17 | 2005-02-03 | Dango & Dienenthal Maschinenbau Gmbh | forging manipulator |
| CN101279353A (en) * | 2008-05-22 | 2008-10-08 | 上海交通大学 | Equidirectional type six-freedom-degree manipulator for forging |
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN101879571A (en) * | 2010-06-02 | 2010-11-10 | 燕山大学 | Forging manipulator lifting mechanism with inclined rear suspension rods |
| CN102728763A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN202894192U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Motion partly decoupling forging manipulator |
Non-Patent Citations (3)
| Title |
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| 何竞飞，等: "基于末端任务特征的操作机构型综合", 《华东理工大学学报（自然科学版）》 * |
| 余发国，等: "基于GF集的锻造操作机构型方法", 《机械工程学报》 * |
| 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》 * |
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