CN103143664A - Forging manipulator with linear lifting function - Google Patents
Forging manipulator with linear lifting function Download PDFInfo
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- CN103143664A CN103143664A CN2013100703727A CN201310070372A CN103143664A CN 103143664 A CN103143664 A CN 103143664A CN 2013100703727 A CN2013100703727 A CN 2013100703727A CN 201310070372 A CN201310070372 A CN 201310070372A CN 103143664 A CN103143664 A CN 103143664A
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Abstract
The invention discloses a forging manipulator with a linear lifting function. The rear end of a clamp is hinged with a clamp lever; a pitch linear driver is hinged with the clamp lever and a rear sliding rod; the two ends of the rear sliding rod are fixedly connected onto a rear left-right linear driver; the rear left-right linear driver is fixedly connected onto a rear lifting arm; a front lifting arm and the rear lifting arm are hinged with a synchronous connecting rod, an upper synchronous connecting rod, a front connecting rod and a rear connecting rod respectively; the front connecting rod and the rear connecting rod are hinged on a machine frame respectively; a lifting linear driver is hinged with the front lifting arm; the other end of the lifting linear driver is fixedly connected onto the machine frame; a front coordination rod is fixedly connected with the clamp lever; a front suspension rod is hinged with the front coordination rod and a front connecting piece; the front connecting piece is hinged with a front sliding rod; the two ends of the front sliding rod are fixedly connected onto a front left-right linear driver; the front left-right linear driver is fixedly connected onto the front lifting arm; a front linear driver and a rear linear driver are hinged with the two ends of each of the front suspension rod and a rear coordination rod; the rear coordination rod is hinged with a lower connecting rod; and a fixing and connecting rod is fixedly connected with the upper synchronous connecting rod and the rear coordination rod. According to the forging manipulator, the linear lifting function can be achieved, the operation is simple, and the motion stability and accuracy of the clamp are improved.
Description
Technical fieldThe present invention relates to a kind of forging manipulator.
Background technologyForging manipulator is one of secondary process equipment in the forging pressure weight equipment, is the necessaries that improves forging and pressing production efficiency and forging quality.Publication number is that the Chinese patent of CN 102019340 A discloses a kind of claw beam lifting mechanism for forging manipulator, its lifting device adopts parallel-crank mechanism, make its claw beam do translation lifting, but this claw beam lifter motion is not the straight line level rises, also be accompanied by seesawing of claw beam in lifting process, brought the error of fore-and-aft direction to lifting.For the forging of large-scale long axial workpiece need two forging manipulators respectively clamping forge piece two bring in and forge, if not being straight line, the elevating mechanism of forging manipulator do not rise, when promoting forging, can make forging generation moment of flexure, reverse, even produce the forging internal modification, affect forging quality.Publication number is that the Chinese patent of CN 1772411 A discloses a kind of double-ball joint telescopic six-dimensional parallel forging operation machine, its claw beam can be regarded the moving platform of parallel institution as, although can complete the Linear lifting of claw beam, but it is large to drive the input degree of coupling, needing six drivers to cooperatively interact just can complete, control and be difficult for realizing, its complex structure of while, processing and assembling be difficulty comparatively, and the working space of clamp is little, and flexibility ratio is poor, after clamping forge piece, the forging range of movement is too small, can not satisfy processing request.
Summary of the inventionThe object of the present invention is to provide a kind of simple in structure, easy to operate, can remove the Linear lifting forging manipulator that promotes error, improves forging quality and precision.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 coordination bar, a pair of front overhang peg, a pair of lifting linear actuator, a pair of synchronising (connecting) rod and 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 linear actuator.
The present invention has two kinds of connected modes:
the first connected mode wherein, the clamp rear end is connected with the claw beam front end by turning joint, this claw beam rear end is connected with an end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator is connected with rear slide bar by turning joint, should after the two ends of slide bar connect firmly with an end of a pair of rear left and right linear actuator respectively, the other end of this a pair of rear left and right linear actuator connects firmly with an end of a pair of rear lift arm respectively, after being somebody's turn to do, the other end of lift arm is connected with an end of a pair of back link respectively by turning joint, the other end of this a pair of back link is connected with frame respectively by turning joint.One position of above-mentioned rear lift arm is connected with an end of a pair of synchronising (connecting) rod respectively by turning joint, the other end of this a pair of synchronising (connecting) rod is connected with an end of front lift arm respectively by turning joint, the other end of this front lift arm is connected with an end of a pair of front rod respectively by turning joint, and the other end of this a pair of front rod is connected with frame respectively by turning joint.One position of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator respectively by turning joint, and the other end of this a pair of lifting linear actuator connects firmly on frame respectively.One end of a pair of front left and right linear actuator connects firmly the position in front lift arm, and its other end connects firmly the two ends at front slide bar.One end of a pair of front connector is connected on front slide bar by turning joint, its other end is connected with an end of a pair of front overhang peg respectively by turning joint, the other end of this a pair of front overhang peg is connected with the two ends of front coordination bar respectively by ball pivot, should frontly coordinate the middle part of bar and a position of the close clamp of above-mentioned claw beam connects firmly, one position of above-mentioned front overhang peg is connected with an end of a pair of front and back linear actuator respectively by ball pivot, and the other end of this a pair of front and back linear actuator is connected with the two ends of rear coordination bar respectively by ball pivot.One end of lower link is connected by the middle part of turning joint with above-mentioned rear coordination bar, its other end connects firmly with the middle part that connects firmly bar, these two ends that connect firmly bar connect firmly respectively a position of synchronising (connecting) rod on a pair of, one end of this a pair of upper synchronising (connecting) rod is connected with an end of rear lift arm by turning joint respectively, and its other end is connected with a position of front lift arm by turning joint respectively.
the second connected mode, the clamp rear end is connected with the claw beam front end by turning joint, this claw beam rear end is connected with an end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator is connected with rear slide bar by turning joint, should after the two ends of slide bar connect firmly with an end of a pair of rear left and right linear actuator respectively, the other end of this a pair of rear left and right linear actuator connects firmly with an end of a pair of rear lift arm respectively, after being somebody's turn to do, the other end of lift arm is connected with an end of a pair of back link respectively by turning joint, the other end of this a pair of back link is connected with frame respectively by turning joint.One position of above-mentioned rear lift arm is connected with an end of a pair of synchronising (connecting) rod respectively by turning joint, the other end of this a pair of synchronising (connecting) rod is connected with an end of front lift arm respectively by turning joint, the other end of this front lift arm is connected with an end of a pair of front rod respectively by turning joint, and the other end of this a pair of front rod is connected with frame respectively by turning joint.One position of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator respectively by turning joint, and the other end of this a pair of lifting linear actuator connects firmly on frame respectively.One end of a pair of front left and right linear actuator connects firmly the position in front lift arm, and its other end connects firmly the two ends at front slide bar.One end of a pair of front connector is connected on front slide bar by turning joint, its other end is connected with an end of a pair of front overhang peg respectively by turning joint, the other end of this a pair of front overhang peg is connected with the two ends of front coordination bar respectively by ball pivot, should frontly coordinate the middle part of bar and a position of the close clamp of above-mentioned claw beam connects firmly, one position of above-mentioned front overhang peg is connected with an end of a pair of front and back linear actuator respectively by ball pivot, and the other end of this a pair of front and back linear actuator is connected with the two ends of rear coordination bar respectively by ball pivot.One end of lower link is connected by the middle part of turning joint with above-mentioned rear coordination bar, and its other end is connected on above-mentioned claw beam by turning joint.One end of a pair of upper synchronising (connecting) rod is connected with an end of rear lift arm respectively by turning joint, and its other end is connected with a position of front lift arm respectively by turning joint.
The elevating movement process of forging manipulator of the present invention: a pair of lifting linear actuator promotes front lift arm, slide bar, front connector, front overhang peg, front coordination bar before driving, the claw beam front end is moved up and down, lift arm after driving by synchronising (connecting) rod simultaneously, and then drive the claw beam rear end by the pitching linear actuator and move up and down, move up and down thereby drive claw beam.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, coordinate before driving bar 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 motion driver directly drives the claw beam rear end and does and face upward up and down the motion of bowing.Deflection and offset movement process: before the front left and right linear actuator promotes, slide bar moves, and drives a pair of front rod, a pair of front overhang peg and front coordination bar, realizes transverse movement from the anterior claw beam that drives of claw beam; After rear left and right linear actuator promotes, slide bar moves, and drives the pitching linear actuator and moves, and realizes transverse movement from claw beam rear portion drive claw beam; During and driving force equal and opposite in direction consistent with rear left and right linear actuator driving direction, claw beam is realized transverse motion when the front left and right linear actuator; When the front left and right linear actuator and after the opposite or driving amount of left and right 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, can realize Linear lifting, eliminate the lifting error of bringing due to mechanism configuration, strengthen stability and the accuracy of clamp motion, effectively improve quality and the precision of forging.
2, each motion of clamp of the present invention is all to be controlled by single driver, and is simple to operate, improved operating efficiency.
3, the present invention is simple in structure, is convenient to installation, current check and maintenance.
Description of drawings
Fig. 1 is the schematic perspective view of the embodiment of the present invention 1.
Fig. 2 is the schematic perspective view of the embodiment of the present invention 2.
In figure: coordinate to coordinate after linear actuator before and after bar, 3-claw beam, 4-, 5-synchronising (connecting) rod, 6-connector before slide bar before left and right linear actuator after slide bar after lift arm after bar, 7-pitching linear actuator, 8-, 9-back link, 10-frame, 11-, 12-, 13-front lift arm, 14-lifting linear actuator, 15-front rod, 16-front left and right linear actuator, 17-, 18-, 19-front overhang peg, the upper synchronising (connecting) rod of 20-, 21-lower link, 22-before 1-clamp, 2-and connect firmly bar.
The specific embodiment:
in the simplified schematic diagram of a kind of six-freedom-degree manipulator for forging shown in Figure 1, clamp 1 rear end is connected with claw beam 3 front ends by turning joint, this claw beam 3 rear ends are connected with an end of pitching linear actuator 7 by ball pivot, the other end of this pitching linear actuator 7 is connected with rear slide bar 11 by turning joint, should after the two ends of slide bar 11 connect firmly with an end of a pair of rear left and right linear actuator 12 respectively, the other end of this a pair of rear left and right linear actuator 12 connects firmly with an end of a pair of rear lift arm 8 respectively, after being somebody's turn to do, the other end of lift arm 8 is connected with an end of a pair of back link 9 respectively by turning joint, the other end of this a pair of back link 9 is connected with frame 10 respectively by turning joint.One position of above-mentioned rear lift arm 8 is connected with an end of a pair of synchronising (connecting) rod 5 respectively by turning joint, the other end of this a pair of synchronising (connecting) rod 5 is connected with an end of front lift arm 13 respectively by turning joint, the other end of this front lift arm 13 is connected with an end of a pair of front rod 15 respectively by turning joint, and the other end of this a pair of front rod 15 is connected with frame 10 respectively by turning joint.One position of above-mentioned front lift arm 13 is connected with an end of a pair of lifting linear actuator 14 respectively by turning joint, and the other end of this a pair of lifting linear actuator 14 connects firmly respectively on frame 10.One end of a pair of front left and right linear actuator 16 connects firmly the position in front lift arm 13, and its other end connects firmly the two ends at front slide bar 17.One end of a pair of front connector 18 is connected on front slide bar 17 by turning joint, its other end is connected with an end of a pair of front overhang peg 19 respectively by turning joint, the other end of this a pair of front overhang peg 19 is connected with the two ends of front coordination bar 2 respectively by ball pivot, should frontly coordinate the middle part of bar 2 and a position of above-mentioned claw beam 3 close clamps 1 connects firmly, one position of above-mentioned front overhang peg 19 is connected with an end of a pair of front and back linear actuator 4 respectively by ball pivot, and the other end of this a pair of front and back linear actuator 4 is connected with the two ends of rear coordination bar 6 respectively by ball pivot.One end of lower link 21 is connected by the middle part of turning joint with above-mentioned rear coordination bar 6, its other end connects firmly with the middle part that connects firmly bar 22, these two ends that connect firmly bar 22 connect firmly respectively a position of synchronising (connecting) rod 20 on a pair of, one end of this a pair of upper synchronising (connecting) rod 20 is connected with an end of rear lift arm 8 by turning joint respectively, and its other end is connected with a position of front lift arm 13 by turning joint respectively.
in the simplified schematic diagram of a kind of six-freedom-degree manipulator for forging shown in Figure 2, clamp 1 rear end is connected with claw beam 3 front ends by turning joint, this claw beam 3 rear ends are connected with an end of pitching linear actuator 7 by ball pivot, the other end of this pitching linear actuator 7 is connected with rear slide bar 11 by turning joint, should after the two ends of slide bar 11 connect firmly with an end of a pair of rear left and right linear actuator 12 respectively, the other end of this a pair of rear left and right linear actuator 12 connects firmly with an end of a pair of rear lift arm 8 respectively, after being somebody's turn to do, the other end of lift arm 8 is connected with an end of a pair of back link 9 respectively by turning joint, the other end of this a pair of back link 9 is connected with frame 10 respectively by turning joint.One position of above-mentioned rear lift arm 8 is connected with an end of a pair of synchronising (connecting) rod 5 respectively by turning joint, the other end of this a pair of synchronising (connecting) rod 5 is connected with an end of front lift arm 13 respectively by turning joint, the other end of this front lift arm 13 is connected with an end of a pair of front rod 15 respectively by turning joint, and the other end of this a pair of front rod 15 is connected with frame 10 respectively by turning joint.One position of above-mentioned front lift arm 13 is connected with an end of a pair of lifting linear actuator 14 respectively by turning joint, and the other end of this a pair of lifting linear actuator 14 connects firmly respectively on frame 10.One end of a pair of front left and right linear actuator 16 connects firmly the position in front lift arm 13, and its other end connects firmly the two ends at front slide bar 17.One end of a pair of front connector 18 is connected on front slide bar 17 by turning joint, its other end is connected with an end of a pair of front overhang peg 19 respectively by turning joint, the other end of this a pair of front overhang peg 19 is connected with the two ends of front coordination bar 2 respectively by ball pivot, should frontly coordinate the middle part of bar 2 and a position of above-mentioned claw beam 3 close clamps 1 connects firmly, one position of above-mentioned front overhang peg 19 is connected with an end of a pair of front and back linear actuator 4 respectively by ball pivot, and the other end of this a pair of front and back linear actuator 4 is connected with the two ends of rear coordination bar 6 respectively by ball pivot.One end of lower link 21 is connected by the middle part of turning joint with above-mentioned rear coordination bar 6, and its other end is connected to a position of claw beam 3 by turning joint.One end of a pair of upper synchronising (connecting) rod 20 is connected with an end of rear lift arm 8 by turning joint respectively, and its other end is connected with a position of front lift arm 13 by turning joint respectively.
Claims (2)
1. Linear lifting forging manipulator, it is characterized in that: the clamp rear end is connected with the claw beam front end by turning joint, this claw beam rear end is connected with an end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator is connected with rear slide bar by turning joint, should after the two ends of slide bar connect firmly with an end of a pair of rear left and right linear actuator respectively, the other end of this a pair of rear left and right linear actuator connects firmly with an end of a pair of rear lift arm respectively, after being somebody's turn to do, the other end of lift arm is connected with an end of a pair of back link respectively by turning joint, the other end of this a pair of back link is connected with frame respectively by turning joint, one position of above-mentioned rear lift arm is connected with an end of a pair of synchronising (connecting) rod respectively by turning joint, the other end of this a pair of synchronising (connecting) rod is connected with an end of front lift arm respectively by turning joint, the other end of this front lift arm is connected with an end of a pair of front rod respectively by turning joint, and the other end of this a pair of front rod is connected with frame respectively by turning joint, one position of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator respectively by turning joint, and the other end of this a pair of lifting linear actuator connects firmly respectively on frame, one end of a pair of front left and right linear actuator connects firmly the position in front lift arm, and its other end connects firmly the two ends at front slide bar, one end of a pair of front connector is connected on front slide bar by turning joint, its other end is connected with an end of a pair of front overhang peg respectively by turning joint, the other end of this a pair of front overhang peg is connected with the two ends of front coordination bar respectively by ball pivot, should frontly coordinate the middle part of bar and a position of the close clamp of above-mentioned claw beam connects firmly, one position of above-mentioned front overhang peg is connected with an end of a pair of front and back linear actuator respectively by ball pivot, and the other end of this a pair of front and back linear actuator is connected with the two ends of rear coordination bar respectively by ball pivot, one end of lower link is connected by the middle part of turning joint with above-mentioned rear coordination bar, its other end connects firmly with the middle part that connects firmly bar, these two ends that connect firmly bar connect firmly respectively a position of synchronising (connecting) rod on a pair of, one end of this a pair of upper synchronising (connecting) rod is connected with an end of rear lift arm by turning joint respectively, and its other end is connected with a position of front lift arm by turning joint respectively.
2. Linear lifting forging manipulator, it is characterized in that: the clamp rear end is connected with the claw beam front end by turning joint, this claw beam rear end is connected with an end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator is connected with rear slide bar by turning joint, should after the two ends of slide bar connect firmly with an end of a pair of rear left and right linear actuator respectively, the other end of this a pair of rear left and right linear actuator connects firmly with an end of a pair of rear lift arm respectively, after being somebody's turn to do, the other end of lift arm is connected with an end of a pair of back link respectively by turning joint, the other end of this a pair of back link is connected with frame respectively by turning joint, one position of above-mentioned rear lift arm is connected with an end of a pair of synchronising (connecting) rod respectively by turning joint, the other end of this a pair of synchronising (connecting) rod is connected with an end of front lift arm respectively by turning joint, the other end of this front lift arm is connected with an end of a pair of front rod respectively by turning joint, and the other end of this a pair of front rod is connected with frame respectively by turning joint, one position of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator respectively by turning joint, and the other end of this a pair of lifting linear actuator connects firmly respectively on frame, one end of a pair of front left and right linear actuator connects firmly the position in front lift arm, and its other end connects firmly the two ends at front slide bar, one end of a pair of front connector is connected on front slide bar by turning joint, its other end is connected with an end of a pair of front overhang peg respectively by turning joint, the other end of this a pair of front overhang peg is connected with the two ends of front coordination bar respectively by ball pivot, should frontly coordinate the middle part of bar and a position of the close clamp of above-mentioned claw beam connects firmly, one position of above-mentioned front overhang peg is connected with an end of a pair of front and back linear actuator respectively by ball pivot, and the other end of this a pair of front and back linear actuator is connected with the two ends of rear coordination bar respectively by ball pivot, one end of lower link is connected by the middle part of turning joint with above-mentioned rear coordination bar, and its other end is connected on above-mentioned claw beam by turning joint, one end of a pair of upper synchronising (connecting) rod is connected with an end of rear lift arm respectively by turning joint, and its other end is connected with a position of front lift arm respectively by turning joint.
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| CN201310070372.7A CN103143664B (en) | 2013-03-06 | 2013-03-06 | Forging manipulator with linear lifting function |
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| CN201310070372.7A CN103143664B (en) | 2013-03-06 | 2013-03-06 | Forging manipulator with linear lifting function |
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| CN203091651U (en) * | 2013-03-06 | 2013-07-31 | 燕山大学 | Forging manipulator capable of being lifted in straight line mode |
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2013
- 2013-03-06 CN CN201310070372.7A patent/CN103143664B/en not_active Expired - Fee Related
Patent Citations (8)
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| JPS62151239A (en) * | 1985-12-26 | 1987-07-06 | Daido Steel Co Ltd | Forging robot |
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| DE10128451B4 (en) * | 2001-05-17 | 2005-02-03 | Dango & Dienenthal Maschinenbau Gmbh | forging manipulator |
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| CN102921870A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator capable of optimizing lifting motion |
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