CN102941305B - Lift arm suspension type forging manipulator - Google Patents
Lift arm suspension type forging manipulator Download PDFInfo
- Publication number
- CN102941305B CN102941305B CN201210421997.9A CN201210421997A CN102941305B CN 102941305 B CN102941305 B CN 102941305B CN 201210421997 A CN201210421997 A CN 201210421997A CN 102941305 B CN102941305 B CN 102941305B
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- pair
- linear actuator
- lift arm
- turning joint
- hinged
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Abstract
The invention relates to a lift arm suspension type forging manipulator. The rear end of a clamp is hinged with a clamp rod, the clamp rod is hinged with a rear slide rod, the two sides of the rear side rod are fixedly connected with a rear left and right linear actuator, a suspension lift arm is fixedly connected with the rear left and right linear actuator and is hinged with a pitching linear actuator and a connection rod, the pitching linear actuator is hinged with a rack, a front connection piece is fixedly connected with the clamp rod, a front suspension rod is connected with the front connection piece through a spherical hinge and is hinged with an upper connection piece, the upper connection piece is hinged with a front slide rod, a front left and right linear actuator is fixedly connected with the front slide rod and the front lift arm respectively, a lifting linear actuator is hinged with the front lift arm, the front lift arm and the lifting linear actuator are both hinged with the rack, a forward and backward linear actuator is connected with a coordination rod through a spherical hinge, and the middle part of the coordination rod is hinged with the rack. The lift arm suspension type forging manipulator is not over-constrained, and is convenient to install, check and maintain every day, and the motion space is increased and the forging quality of a forge piece is improved.
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, be realize forging and stamping production mechanization, automation a capital equipment, with forging press with the use of.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 prior art, the Chinese patent of publication number CN 202155463 U discloses a kind of forging manipulator lifting mechanism, adopt two lift arm mechanism, although the lifting bearing capacity of mechanism is strengthened, but lift arm is connected directly between on large vehicle carriage thereafter, decrease the space of claw beam and clamp.Also find that publication number is the shaftless forging manipulator of one that the Chinese patent of CN 201192720 Y also discloses through retrieval, its mechanism self does not possess transverse movement, in forging process, to the kicking motion that the sudden change external force of horizontal direction can not adapt to, and then affect the forging and stamping quality of forging; There is Planar Mechanisms situation in some other mechanism, makes processing and assembling comparatively difficulty.
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summary of the inventionthe object of the present invention is to provide one to increase space, there is the lift arm suspension type forging operation of laterally buffering.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 connector, a pair front overhang peg, a pair upper connector, slide bar, front lift arm, a pair lifting linear actuator before a pair; Described elevation mount comprises: hang lift arm, pair of links, a pair pitching linear actuator a pair; 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 rear end is connected with in the middle part of rear slide bar by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair rear left and right linear actuator respectively, after this pair, the left and right linear actuator other end connects firmly respectively and hangs on lift arm at a pair, hang lift arm one end this pair to be connected with one end of a pair pitching linear actuator respectively by turning joint, this a pair pitching linear actuator is connected with frame by turning joint, the above-mentioned lift arm other end that hangs for a pair is connected with pair of links one end respectively by turning joint, this pair of links other end is connected with frame respectively by turning joint, above-mentioned claw beam connects firmly near a position of clamp and the middle part of front connector, these front connector two ends are connected with one end of a pair front overhang peg respectively by ball pivot, this a pair front overhang peg other end is connected with a pair upper connector respectively by turning joint, this a pair upper connector other end is connected on front slide bar by turning joint, one end of a pair front left and right linear actuator connects firmly with the two ends of above-mentioned front slide bar respectively, the other end of this pair front left and right linear actuator is connected with front lift arm respectively by turning joint, one end of this front lift arm is connected with frame by turning joint, the other end of above-mentioned front lift arm is elevated linear actuator one end with a pair respectively by turning joint and is connected, this a pair lifting linear actuator other end is connected with frame by turning joint, above-mentioned front overhang peg one position is connected with one end of a pair tandem driver respectively by ball pivot, the other end of this pair tandem driver is connected to the two ends of coordinating bar by ball pivot, be connected with frame by turning joint in the middle part of this coordination bar.
The elevating movement process of forging manipulator of the present invention: a pair lifting linear actuator promotes front lift arm, thus slide bar, upper connector, front overhang peg and front connector do and are synchronized with the movement up and down before driving, and then drive claw beam front end to move up and down, a pair pitching linear actuator promotes to hang lift arm, and then drive claw beam rear end to do and be synchronized with the movement up and down, when lifting linear actuator and pitching linear actuator move simultaneously, when promoting the distance of moving identical in claw beam front-end and back-end, namely achieve the elevating movement of claw beam.Seesaw process: a pair tandem driver promotes a pair front overhang peg, drives upper connector to do front and back back and forth movement, and then drive claw beam and clamp to seesaw.Elevating movement process: pitching linear motion driver drives and hangs lift arm motion, and then drives claw beam rear end to do and face upward motion of bowing up and down.Deflection and offset movement process: before front left and right linear actuator promotes, slide bar moves, and drives a pair upper connector and a pair front overhang peg, drive claw beam to realize transverse shifting from claw beam front portion; Rear left and right linear actuator directly promotes claw beam rear end and moves.When front left and right linear actuator is with when rear left and right linear actuator driving direction is consistent and size is identical, claw beam realizes transverse motion; When front left and right linear actuator is contrary with rear left and right linear actuator driving direction 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 adopts the mechanism containing hanging lift arm, adds the space of claw beam and clamp.
2, there is not Planar Mechanisms situation in the whole mechanism of the present invention, is convenient to installation, current check and maintenance.
3, the present invention has horizontal kicking motion, to the kicking motion that the sudden change external force of horizontal direction in forging process can adapt to fast, improves forging forging and stamping quality.
Accompanying drawing explanation
Fig. 1 is schematic perspective view of the present invention.
In figure: left and right linear actuator after slide bar, 7-after connector before 1-clamp, 2-, 3-claw beam, 4-are elevated linear actuator, 5-tandem driver, 6-, 8-hang lift arm, 9-pitching linear actuator, 10-connecting rod, 11-coordinate slide bar, 15-upper connector, 16-front overhang peg, 17-frame before bar, 12-front lift arm, 13-front left and right linear actuator, 14-.
Detailed description of the invention
In a kind of lift arm pendent-type forging operating machine simplified schematic diagram shown in Fig. 1, clamp 1 rear end is connected with claw beam 3 front end by turning joint, this claw beam rear end is connected with in the middle part of rear slide bar 6 by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair rear left and right linear actuator 7 respectively, after this pair, the left and right linear actuator other end connects firmly respectively and hangs on lift arm 8 one position at a pair, hang lift arm one end this pair to be connected with one end of a pair pitching linear actuator 9 respectively by turning joint, this a pair pitching linear actuator other end is connected with frame 17 by turning joint, the above-mentioned lift arm other end that hangs for a pair is connected with pair of links 10 one end respectively by turning joint, this pair of links other end is connected with frame respectively by turning joint, above-mentioned claw beam connects firmly near a position of clamp and the middle part of front connector 2, these front connector two ends are connected with one end of a pair front overhang peg 16 respectively by ball pivot, this a pair front overhang peg other end is connected with a pair upper connector 15 respectively by turning joint, this a pair upper connector other end is connected on front slide bar 14 by turning joint, one end of a pair front left and right linear actuator 13 connects firmly with the two ends of above-mentioned front slide bar respectively, the other end of this pair front left and right linear actuator is connected with front lift arm 12 respectively by turning joint, one end of this front lift arm is connected with frame 17 by turning joint, the other end of above-mentioned front lift arm is elevated linear actuator 4 one end respectively by turning joint and is connected with a pair, this a pair lifting linear actuator other end is connected with frame by turning joint, above-mentioned a pair front overhang peg one position is connected with one end of a pair tandem driver 5 respectively by ball pivot, the other end of this pair tandem driver is connected to the two ends of coordinating bar 11 by ball pivot, be connected with frame by turning joint in the middle part of this coordination bar.
Claims (1)
1. a lift arm pendent-type forging operating machine, it is characterized in that: clamp rear end is connected with claw beam front end by turning joint, this claw beam rear end is connected with in the middle part of rear slide bar by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair rear left and right linear actuator respectively, after this pair, the left and right linear actuator other end connects firmly respectively and hangs on lift arm at a pair, hang lift arm one end this pair to be connected with one end of a pair pitching linear actuator respectively by turning joint, this a pair pitching linear actuator is connected with frame by turning joint, the above-mentioned lift arm other end that hangs for a pair is connected with pair of links one end respectively by turning joint, this pair of links other end is connected with frame respectively by turning joint, above-mentioned claw beam connects firmly near a position of clamp and the middle part of front connector, these front connector two ends are connected with one end of a pair front overhang peg respectively by ball pivot, this a pair front overhang peg other end is connected with a pair upper connector respectively by turning joint, this a pair upper connector other end is connected on front slide bar by turning joint, one end of a pair front left and right linear actuator connects firmly with the two ends of above-mentioned front slide bar respectively, the other end of this pair front left and right linear actuator is connected with front lift arm respectively by turning joint, one end of this front lift arm is connected with frame by turning joint, the other end of above-mentioned front lift arm is elevated linear actuator one end with a pair respectively by turning joint and is connected, this a pair lifting linear actuator other end is connected with frame by turning joint, above-mentioned front overhang peg one position is connected with one end of a pair tandem driver respectively by ball pivot, the other end of this pair tandem driver is connected to the two ends of coordinating bar by ball pivot, be connected with frame by turning joint in the middle part of this coordination bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210421997.9A CN102941305B (en) | 2012-10-30 | 2012-10-30 | Lift arm suspension type forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210421997.9A CN102941305B (en) | 2012-10-30 | 2012-10-30 | Lift arm suspension type forging manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102941305A CN102941305A (en) | 2013-02-27 |
| CN102941305B true CN102941305B (en) | 2015-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210421997.9A Expired - Fee Related CN102941305B (en) | 2012-10-30 | 2012-10-30 | Lift arm suspension type forging manipulator |
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| Country | Link |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103157742B (en) * | 2013-03-06 | 2014-11-12 | 燕山大学 | Redundant drive straight line lifting forging manipulator |
| CN103157741B (en) * | 2013-03-06 | 2014-11-12 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1003992A1 (en) * | 1980-12-23 | 1983-03-15 | за вители Ь.. п.ШгЮ5 в -/-. | Manipulator |
| SU1018774A1 (en) * | 1982-02-11 | 1983-05-23 | Рязанское производственное объединение "Тяжпрессмаш" | Manipulator |
| US4420287A (en) * | 1980-05-24 | 1983-12-13 | Sms Schloemann-Siemag Aktiengesellschaft | Gripper feed and gripper resilience cylinders on forging manipulators |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN202894189U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Lift arm suspension type forging manipulator |
-
2012
- 2012-10-30 CN CN201210421997.9A patent/CN102941305B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4420287A (en) * | 1980-05-24 | 1983-12-13 | Sms Schloemann-Siemag Aktiengesellschaft | Gripper feed and gripper resilience cylinders on forging manipulators |
| SU1003992A1 (en) * | 1980-12-23 | 1983-03-15 | за вители Ь.. п.ШгЮ5 в -/-. | Manipulator |
| SU1018774A1 (en) * | 1982-02-11 | 1983-05-23 | Рязанское производственное объединение "Тяжпрессмаш" | Manipulator |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN202894189U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Lift arm suspension type forging manipulator |
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| CN102941305A (en) | 2013-02-27 |
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Granted publication date: 20150107 Termination date: 20171030 |