CN102941304B - Decoupling type forging manipulator for motion part - Google Patents
Decoupling type forging manipulator for motion part Download PDFInfo
- Publication number
- CN102941304B CN102941304B CN201210421548.4A CN201210421548A CN102941304B CN 102941304 B CN102941304 B CN 102941304B CN 201210421548 A CN201210421548 A CN 201210421548A CN 102941304 B CN102941304 B CN 102941304B
- Authority
- CN
- China
- Prior art keywords
- pair
- linear actuator
- turning joint
- lift arm
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
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 the input of its drived control is more simple better.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 1745937 A discloses a kind of six-dimensional parallel forging operator, the claw beam of this manipulator can regard the moving platform of parallel institution as, although add rigidity and the bearing capacity of mechanism, but the simple motion completing clamp needs All Drives to coordinate together just can be completed, thus will adjust the accurate pose of clamp, operate comparatively difficulty, add the working time, reduce operating efficiency.Retrieval also finds, publication number is that CN201192720Y discloses a kind of shaftless forging manipulator, and its mechanism's yaw motion is by cart unitary rotation, realize the deflection of clamp, and mechanism itself do not possess this free degree of deflection, therefore, deflect precision among a small circle not high, affect 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 deflect the high forging manipulator of precision.The present invention mainly comprises clamp rotation device, lifting device, elevation mount, front-back buffer 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 front overhang peg, a pair synchronising (connecting) rod, a pair lifting linear actuator, connector before a pair; Described elevation mount comprises: pitching linear actuator; Described front-back buffer comprises: a pair tandem driver; Described deflection offset assembly comprises: a pair front left and right linear actuator, a pair rear left and right linear actuator.
Wherein, clamp rear end is connected with claw beam front end by turning joint, this claw beam connects firmly near the middle part of a position of clamp and front coordination bar, these front coordination bar two ends are connected with one end of a pair front overhang peg respectively by ball pivot, the other end of this pair front overhang peg is connected with one end of connector before a pair respectively by turning joint, before this pair, the other end of connector is connected on front slide bar respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair front left and right linear actuator respectively, the other end of this pair front left and right linear actuator connects firmly with one end of front lift arm respectively, the other end of this front lift arm is connected with one end of a pair synchronising (connecting) rod respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected respectively by turning joint one end with rear lift arm, the other end of this rear lift arm connects firmly with one end of a pair rear left and right linear actuator respectively, after this pair, the other end of left and right linear actuator and the two ends of rear slide bar connect firmly, one end of pitching linear actuator is connected on above-mentioned rear slide bar by turning joint, its other end is connected with the rear end of above-mentioned claw beam by ball pair, one position of above-mentioned front lift arm is connected with frame respectively by turning joint with a position of rear lift arm, one position of above-mentioned front overhang peg is connected respectively by ball pivot one end with a pair tandem driver, the other end of this pair tandem driver is connected respectively by ball pivot one end with rear coordination bar, the middle part of this rear coordination bar is connected with frame by turning joint, another position of above-mentioned rear lift arm is connected with the one end being elevated linear actuator for a pair respectively by turning joint, the other end of this pair lifting linear actuator is connected with frame respectively by turning joint.
The elevating movement process of forging manipulator of the present invention: lift arm after a pair lifting linear actuator promotes, left and right linear actuator, the motion of pitching linear actuator after driving a pair, and then drive claw beam rear end to move up and down, pass through synchronising (connecting) rod simultaneously, drive the motion of front lift arm, front left and right linear actuator, front slide bar, front connector, front overhang peg, and then drive claw beam front end to move up and down, thus realize claw beam and clamp and do horizontal lifting motion.Seesaw process: a pair tandem driver promotes a pair front overhang peg, drives claw beam and clamp to seesaw.Elevating movement process: pitching linear actuator promotes claw beam rear end, drives claw beam rear end to do and face upward motion of bowing up and down, and claw beam front end and front overhang peg position remains unchanged, thus drive clamp to do elevating movement.Deflection motion process: slide bar before a pair front left and right linear actuator promotes, connector and a pair front overhang peg before driving a pair, drive claw beam to realize transverse shifting from claw beam front portion; After a pair, left and right linear actuator promotes rear slide bar, drives pitching linear actuator, drives claw beam to realize transverse shifting from claw beam rear portion.When left and right linear actuator driving direction after a pair front left and right linear actuator is with a pair is consistent and size is identical, claw beam realizes offset movement; When left and right linear actuator driving direction after a pair front left and right linear actuator is with a pair is contrary or drive volume is different, claw beam realizes oscillating motion.Clamp rotary course: make it rotate around rear end hinge axes by driving clamp rear end.
The present invention compared with prior art tool has the following advantages:
1, the present invention only has lifter motion to be coupled, and degree of coupling is little, and other each main motion is all full decoupled, makes simple to operate.
2, the present invention self mechanism possesses the deflection free degree, deflects precision among a small circle high, improves forging process quality.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the embodiment of the present invention.
In figure: coordinate bar after 1-clamp, 2-claw beam, 3-tandem driver, 4-pitching linear actuator, 5-, 6-be elevated linear actuator, coordinate bar before connector, 16-front overhang peg, 17-before slide bar, 15-before left and right linear actuator, 10-synchronising (connecting) rod, 11-frame, 12-front lift arm, 13-front left and right linear actuator, 14-after slide bar, 9-after lift arm, 8-after 7-.
Detailed description of the invention
In the schematic diagram of mechanism of a kind of motion parts decoupling type forging manipulator forging manipulator shown in Fig. 1, clamp 1 rear end is connected with claw beam 2 front end by turning joint, this claw beam connects firmly near the middle part of a position of clamp and front coordination bar 17, these front coordination bar two ends are connected with one end of a pair front overhang peg 16 respectively by ball pivot, the other end of this pair front overhang peg is connected respectively by turning joint one end with connector before a pair 15, before this pair, the other end of connector is connected on front slide bar 14 respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair front left and right linear actuator 13 respectively, the other end of this pair front left and right linear actuator connects firmly with one end of front lift arm 12 respectively, the other end of this front lift arm is connected respectively by turning joint one end with a pair synchronising (connecting) rod 10, the other end of this pair synchronising (connecting) rod is connected respectively by turning joint one end with rear lift arm 7, the other end of this rear lift arm connects firmly with one end of a pair rear left and right linear actuator 9 respectively, after this pair, the other end of left and right linear actuator and the two ends of rear slide bar 8 connect firmly, one end of pitching linear actuator 4 is connected on above-mentioned rear slide bar by turning joint, this pitching linear actuator other end is connected by the rear end of ball pivot with above-mentioned claw beam, one position of above-mentioned front lift arm is connected with frame 11 respectively by turning joint with a position of rear lift arm, one position of above-mentioned front overhang peg is connected respectively by ball pivot one end with a pair tandem driver 3, the other end of this pair tandem driver is connected respectively by the two ends of ball pivot with rear coordination bar 5, the middle part of this rear coordination bar is connected with frame by turning joint, another position of above-mentioned lift arm after a pair is connected with the one end being elevated linear actuator 6 for a pair respectively by turning joint, the other end of this pair lifting linear actuator is connected with frame respectively by turning joint.
Claims (1)
1. a motion parts decoupling type forging manipulator, it is characterized in that: clamp rear end is connected with claw beam front end by turning joint, this claw beam connects firmly near the middle part of a position of clamp and front coordination bar, these front coordination bar two ends are connected with one end of a pair front overhang peg respectively by ball pivot, the other end of this pair front overhang peg is connected with one end of connector before a pair respectively by turning joint, before this pair, the other end of connector is connected on front slide bar respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair front left and right linear actuator respectively, the other end of this pair front left and right linear actuator connects firmly with one end of front lift arm respectively, the other end of this front lift arm is connected with one end of a pair synchronising (connecting) rod respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected respectively by turning joint one end with rear lift arm, the other end of this rear lift arm connects firmly with one end of a pair rear left and right linear actuator respectively, after this pair, the other end of left and right linear actuator and the two ends of rear slide bar connect firmly, one end of pitching linear actuator is connected on above-mentioned rear slide bar by turning joint, its other end is connected with the rear end of above-mentioned claw beam by ball pair, one position of above-mentioned front lift arm is connected with frame respectively by turning joint with a position of rear lift arm, one position of above-mentioned front overhang peg is connected respectively by ball pivot one end with a pair tandem driver, the other end of this pair tandem driver is connected respectively by ball pivot one end with rear coordination bar, the middle part of this rear coordination bar is connected with frame by turning joint, another position of above-mentioned rear lift arm is connected with the one end being elevated linear actuator for a pair respectively by turning joint, the other end of this pair lifting linear actuator is connected with frame respectively by turning joint.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102941304A CN102941304A (en) | 2013-02-27 |
| CN102941304B true CN102941304B (en) | 2015-06-10 |
Family
ID=47724345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210421548.4A Expired - Fee Related CN102941304B (en) | 2012-10-30 | 2012-10-30 | Decoupling type forging manipulator for motion part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102941304B (en) |
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 |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN102728763A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of rear suspension rod-inclined oscillating lever type 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 |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN102728763A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator |
| CN202894192U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Motion partly decoupling forging manipulator |
Non-Patent Citations (3)
| Title |
|---|
| 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)》.CNKI,2012,第38卷(第3期),377-383. * |
| 余发国,等.基于GF集的锻造操作机构型方法.《机械工程学报》.CNKI,2008,第44卷(第11期),152-159. * |
| 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》.CNKI,2012,第48卷(第3期),50-56. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102941304A (en) | 2013-02-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102921867B (en) | Forging manipulator | |
| CN102921869B (en) | Double-lift driven forging manipulator | |
| CN202894181U (en) | Forging manipulator capable of optimizing and lifting motion | |
| CN102935481B (en) | Suspension type forging manipulator of lifting mechanism | |
| CN202894178U (en) | Forging manipulator of six degrees of freedom | |
| CN102941304B (en) | Decoupling type forging manipulator for motion part | |
| CN202894191U (en) | Less coupling motor type forging manipulator | |
| CN202894192U (en) | Motion partly decoupling forging manipulator | |
| CN102935476B (en) | Partial-movement-decoupled forging manipulator | |
| CN103157741B (en) | Dual-drive straight-line lifting forging manipulator | |
| CN102941303B (en) | Forging manipulator with few coupled motions | |
| CN102935480B (en) | Little kinematic coupling type six-degree-of-freedom forging manipulator | |
| CN102921868B (en) | Six-degree-of-freedom forging manipulator | |
| CN103537598B (en) | Forging manipulator with optimized deflector | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN202894189U (en) | Lift arm suspension type forging manipulator | |
| CN202963351U (en) | Componental movement decoupling type forging manipulator | |
| CN102941305B (en) | Lift arm suspension type forging manipulator | |
| CN202894195U (en) | Double suspension rods type six free degrees forging operating machine | |
| CN102935482B (en) | Synchronous connecting rod forwardly-connected forging manipulator | |
| CN102921870B (en) | Forging manipulator capable of optimizing lifting motion | |
| CN102921871B (en) | Multi-suspension-rod combined forging manipulator | |
| CN203091651U (en) | Forging manipulator capable of being lifted in straight line mode | |
| CN202894190U (en) | Sport less-coupling type six-freedom-degree forging operation machine | |
| CN103143664B (en) | Forging manipulator with linear lifting function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150610 Termination date: 20211030 |