CN103157741A - Dual-drive straight-line lifting forging manipulator - Google Patents
Dual-drive straight-line lifting forging manipulator Download PDFInfo
- Publication number
- CN103157741A CN103157741A CN2013100703962A CN201310070396A CN103157741A CN 103157741 A CN103157741 A CN 103157741A CN 2013100703962 A CN2013100703962 A CN 2013100703962A CN 201310070396 A CN201310070396 A CN 201310070396A CN 103157741 A CN103157741 A CN 103157741A
- Authority
- CN
- China
- Prior art keywords
- pair
- linear actuator
- lifting
- turning joint
- 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.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
- Forging (AREA)
Abstract
Disclosed is a dual-drive straight-line lifting forging manipulator. A clamp is hinged with a clamp rod. A rear suspension rod is hinged with the rear end of the clamp rod and a rear sliding rod, rear left-right straight line actuators are fixedly connected with the rear sliding rod and a rear lifting arm, rear auxiliary lifting arms are hinged with the rear lifting arm and a rack, rear lifting straight line actuators are hinged and fixedly connected with the rear lifting arm and the rack, one position of the clamp rod is fixedly connected with a front coordination rod, front suspension rods are hinged with the front coordination rods and front connecting pieces, the other ends of the front connecting pieces are hinged with a front sliding rod, front left-right straight line actuators are fixedly connected with the front sliding rod and the front lifting arm, front auxiliary lifting arms are hinged with the front lifting arm and the rack, front lifting straight line actuators are respectively hinged and fixedly connected with one position of the front lifting arm and the rack, front-back straight line actuators are hinged with one positions of front suspension rods and two ends of a rear coordination rod, and a lower connecting rod is hinged with the middle of the rear coordination rod and the clamp rod. Due to the fact that double lifting actuators are adopted, bearing capacity is improved, straight-line lifting is achieved, and quality and precision of a forge piece 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 101879571 A discloses a kind of forging manipulator lifting mechanism with inclined rear suspension rods, its lifting device adopts the parallel-crank mechanism form, when claw beam is done translation lifting, also be accompanied by the motion of claw beam front and back, this has brought the error of fore-and-aft direction to lifting.Forging for large-scale long axial workpiece needs two forging manipulators to forge at the clamping forge piece two ends respectively, if the elevating mechanism of forging manipulator is not that straight line rises when promoting forging completely, 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 CN102430684A discloses a kind of Multifunctional hydraulic track forging manipulator, and its lifting device adopts single driver and rearmounted mode.The duty of forging manipulator is one and lays particular stress on load condition, and whole center of gravity is positioned near clamp, for large forgings, if single driver is rearmounted, causes probably that to promote driving force not enough, can not satisfy job requirement.Publication No. is a kind of upper connecting rod forward-only connecting type forging manipulator that the Chinese patent of CN101607296A discloses, and it adopts two drives structure that promote, and forms redundant drive, although improved bearing capacity, has increased manufacturing and maintenance cost.
Summary of the inventionThe object of the present invention is to provide that a kind of bearing capacity is high, manufacturing and maintenance cost is low, can effectively improve two Linear lifting forging manipulators that drive of 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: a pair of front service hoisting arm, a pair of rear service hoisting arm, a pair of front coordination bar, a pair of front overhang peg, front lift arm, rear lift arm, a pair of front lifting linear actuator, a pair of rear lifting linear actuator, a pair of front connector and rear suspension rods; Described elevation mount comprises: rear lifting linear actuator, rear lift arm and rear suspension rods; 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.
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 rear suspension rods by ball pivot, the other end of this rear suspension rods is connected with rear slide bar by turning joint, after being somebody's turn to do, the two ends of slide bar and an end of a pair of rear left and right linear actuator connect firmly, the other end of this a pair of rear left and right linear actuator and an end of rear lift arm connect firmly, after being somebody's turn to do, the other end of lift arm is connected with an end of a pair of rear service hoisting arm respectively by turning joint, and the other end of this a pair of rear service hoisting arm is connected with frame by turning joint respectively, one end of a pair of rear lifting linear actuator is connected with a position of above-mentioned rear lift arm respectively by turning joint, and the other end of this a pair of rear lifting linear actuator connects firmly with frame respectively, connect firmly in the middle part of one position of the close clamp of above-mentioned claw beam and front coordination bar, should be connected with a pair of front overhang peg one end by ball pivot respectively at front two ends of coordinating bar, the other end of this a pair of front overhang peg is connected with an end of a pair of front connector by turning joint respectively, should be connected on front slide bar by turning joint respectively by the front connector other end, 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 front left and right linear actuator connects firmly with an end of a pair of front lift arm respectively, the other end of this front lift arm is connected with a pair of front service hoisting arm one end respectively by turning joint, the other end of this a pair of front service hoisting arm is connected with frame by turning joint respectively, one position of above-mentioned front lift arm is connected with an end of a pair of front lifting linear actuator respectively by turning joint, and the other end of this a pair of front lifting linear actuator connects firmly with frame respectively, one end of a pair of front and back linear actuator is connected with a position of above-mentioned front overhang peg by ball pivot respectively, 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 the other end of this lower link is connected on above-mentioned claw beam by turning joint.
The elevating movement process of forging manipulator of the present invention: a pair of front lifting linear actuator and a pair of rear lifting linear actuator drive front lift arm and rear lift arm simultaneously, band front overhang peg, rear suspension rods are done the up and down rectilinear motion, do the straight line elevating movement thereby drive claw beam.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, back and forth movement before and after before driving, connector is done, and then drive claw beam and clamp and do and seesaw.The elevating movement process: lift arm after rear lifting linear actuator drives, drives the claw beam rear end by rear suspension rods and move up and down, thereby the drive claw beam is done elevating movement.Deflection and offset movement process: before the front left and right linear actuator promotes, slide bar moves, and drives a pair of front rod and a pair of front overhang peg, 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 rear suspension rods and moves, and realizes transverse movement from claw beam rear portion drive claw beam.Consistent with rear left and right linear actuator driving direction and big or small when identical when the front left and right linear actuator, claw beam is realized transverse motion; 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 fully, eliminate the lifting error of bringing due to mechanism configuration, effectively improve quality and the precision of forging.
2, two lifting drivers of the present invention's employing lay respectively at the front-end and back-end of hoisting mechanism, have effectively improved the bearing capacity of mechanism, have avoided can not satisfying because lifting force is not enough the requirement of work.
3, after the present invention, the lifting linear actuator can be used as the driver of elevating movement, when improving bearing capacity, has reduced again manufacturing and maintenance cost.
Description of drawings
Fig. 1 is the schematic perspective view of the embodiment of the present invention 1.
In figure: coordinate to coordinate after linear actuator before and after bar, 3-claw beam, 4-, 5-lower link, 6-connector before slide bar before service hoisting arm before lifting linear actuator before service hoisting arm after lifting linear actuator after lift arm after left and right linear actuator after slide bar after bar, 7-rear suspension rods, 8-, 9-, 10-, 11-, 12-, 13-frame, 14-front lift arm, 15-, 16-, 17-front left and right linear actuator, 18-, 19-, 20-front overhang peg before 1-clamp, 2-.
The specific embodiment:
in the simplified schematic diagram of a kind of two driving Linear lifting forging manipulators shown in Figure 1, clamp 1 rear end is connected with claw beam 3 front ends by turning joint, the claw beam rear end is connected with an end of rear suspension rods 7 by ball pivot, the other end of this rear suspension rods is connected with rear slide bar 8 by turning joint, after being somebody's turn to do, the two ends of slide bar and an end of a pair of rear left and right linear actuator 9 connect firmly, the other end of this a pair of rear left and right linear actuator and an end of rear lift arm 10 connect firmly, after being somebody's turn to do, the other end of lift arm is connected with an end of a pair of rear service hoisting arm 12 respectively by turning joint, the other end of this a pair of rear service hoisting arm is connected with frame 13 by turning joint respectively, one end of a pair of rear lifting linear actuator 11 is connected with a position of above-mentioned rear lift arm by turning joint respectively, and the other end of this a pair of rear lifting linear actuator connects firmly with frame respectively, above-mentioned claw beam connects firmly near a position of clamp and front coordination bar 2 middle parts, should be connected with a pair of front overhang peg 20 1 ends by ball pivot respectively at front two ends of coordinating bar, the other end of this a pair of front overhang peg is connected with an end of a pair of front connector 19 by turning joint, should be connected on front slide bar 18 by turning joint by the front connector other end, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator 17 respectively, the other end of this front left and right linear actuator connects firmly with an end of a pair of front lift arm 14 respectively, the other end of this front lift arm is connected with a pair of front service hoisting arm 16 1 ends respectively by turning joint, the other end of this a pair of front service hoisting arm is connected with frame by turning joint respectively, one position of above-mentioned front lift arm is connected with an end of a pair of front lifting linear actuator 15 respectively by turning joint, and the other end of this a pair of front lifting linear actuator connects firmly with frame respectively, one end of a pair of front and back linear actuator 4 is connected with a position of above-mentioned front overhang peg by ball pivot respectively, the other end of this a pair of front and back linear actuator is connected with the two ends of rear coordination bar 6 respectively by ball pivot, one end of lower link 5 is connected by the middle part of turning joint with above-mentioned rear coordination bar, and the other end of this lower link is connected on above-mentioned claw beam by turning joint.
Claims (1)
1. one kind pair drives the 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 rear suspension rods by ball pivot, the other end of this rear suspension rods is connected with rear slide bar by turning joint, after being somebody's turn to do, the two ends of slide bar and an end of a pair of rear left and right linear actuator connect firmly, the other end of this a pair of rear left and right linear actuator and an end of rear lift arm connect firmly, after being somebody's turn to do, the other end of lift arm is connected with an end of a pair of rear service hoisting arm respectively by turning joint, the other end of this a pair of rear service hoisting arm is connected with frame by turning joint respectively, one end of a pair of rear lifting linear actuator is connected with a position of above-mentioned rear lift arm respectively by turning joint, and the other end of this a pair of rear lifting linear actuator connects firmly with frame respectively, connect firmly in the middle part of one position of the close clamp of above-mentioned claw beam and front coordination bar, should be connected with a pair of front overhang peg one end by ball pivot respectively at front two ends of coordinating bar, the other end of this a pair of front overhang peg is connected with an end of a pair of front connector by turning joint respectively, should be connected on front slide bar by turning joint respectively by the front connector other end, 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 front left and right linear actuator connects firmly with an end of a pair of front lift arm respectively, the other end of this front lift arm is connected with a pair of front service hoisting arm one end respectively by turning joint, the other end of this a pair of front service hoisting arm is connected with frame by turning joint respectively, one position of above-mentioned front lift arm is connected with an end of a pair of front lifting linear actuator respectively by turning joint, and the other end of this a pair of front lifting linear actuator connects firmly with frame respectively, one end of a pair of front and back linear actuator is connected with a position of above-mentioned front overhang peg by ball pivot respectively, 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 the other end of this lower link is connected on above-mentioned claw beam by turning joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310070396.2A CN103157741B (en) | 2013-03-06 | 2013-03-06 | Dual-drive straight-line lifting forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310070396.2A CN103157741B (en) | 2013-03-06 | 2013-03-06 | Dual-drive straight-line lifting forging manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103157741A true CN103157741A (en) | 2013-06-19 |
| CN103157741B CN103157741B (en) | 2014-11-12 |
Family
ID=48581566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310070396.2A Expired - Fee Related CN103157741B (en) | 2013-03-06 | 2013-03-06 | Dual-drive straight-line lifting forging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103157741B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN104014706A (en) * | 2014-06-05 | 2014-09-03 | 燕山大学 | Large-tonnage lifting mechanism for trackless forging manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschbau | Blacksmith manipulator |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN102921867A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator |
| CN102921869A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Double-lift driven forging manipulator |
| CN102941305A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Lift arm suspension type forging manipulator |
| CN203091650U (en) * | 2013-03-06 | 2013-07-31 | 燕山大学 | Double-drive forging manipulator achieving straight-line lifting |
-
2013
- 2013-03-06 CN CN201310070396.2A patent/CN103157741B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschbau | Blacksmith manipulator |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN102921867A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator |
| CN102921869A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Double-lift driven forging manipulator |
| CN102941305A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Lift arm suspension type forging manipulator |
| CN203091650U (en) * | 2013-03-06 | 2013-07-31 | 燕山大学 | Double-drive forging manipulator achieving straight-line lifting |
Non-Patent Citations (2)
| Title |
|---|
| 范凡等: ""自由锻造操作机冗余驱动系统的驱动力分配与协调"", 《机械设计》 * |
| 许允斗等: ""锻造操作机提升机构设计方法"", 《机械工程学报》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN103537598B (en) * | 2013-09-23 | 2015-04-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN103537604B (en) * | 2013-09-23 | 2015-09-16 | 燕山大学 | A kind of six-freedom-degree manipulator for forging |
| CN104014706A (en) * | 2014-06-05 | 2014-09-03 | 燕山大学 | Large-tonnage lifting mechanism for trackless forging manipulator |
| CN104014706B (en) * | 2014-06-05 | 2015-11-18 | 燕山大学 | A kind of large-tonnage trackless forging manipulator lifting mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103157741B (en) | 2014-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101607296B (en) | Upper connecting rod forward-only connecting type forging manipulator | |
| CN104552248A (en) | Multi-degree-of-freedom controllable mechanism type moving welding robot | |
| CN103157741B (en) | Dual-drive straight-line lifting forging manipulator | |
| CN203091650U (en) | Double-drive forging manipulator achieving straight-line lifting | |
| CN202155463U (en) | Lifting mechanism of forging operation machine with little coupling movement | |
| CN202894181U (en) | Forging manipulator capable of optimizing and lifting motion | |
| CN103537604B (en) | A kind of six-freedom-degree manipulator for forging | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN202894191U (en) | Less coupling motor type forging manipulator | |
| CN203091649U (en) | Forging manipulator achieving straight-line lifting under redundant drive | |
| CN103894533B (en) | A kind of full decoupled formula forging manipulator lifting mechanism | |
| CN102941303B (en) | Forging manipulator with few coupled motions | |
| CN203091651U (en) | Forging manipulator capable of being lifted in straight line mode | |
| CN103537598B (en) | Forging manipulator with optimized deflector | |
| CN102935474B (en) | Single-lifting-arm forging manipulator | |
| CN103157742B (en) | Redundant drive straight line lifting forging manipulator | |
| CN202894179U (en) | Single lifting arm forging manipulator | |
| CN202894189U (en) | Lift arm suspension type forging manipulator | |
| CN202894180U (en) | Double lifting drive forging manipulator | |
| CN202894184U (en) | Single lift arm six-degree-freedom forging manipulator | |
| CN103909198A (en) | Large-scale forging manipulator mechanism | |
| CN102921870B (en) | Forging manipulator capable of optimizing lifting motion | |
| CN202894183U (en) | Multi-hanging-rod combined-type forging manipulator | |
| CN102921871A (en) | Multi-suspension-rod combined forging manipulator | |
| CN202894182U (en) | Forging manipulator |
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 |
Granted publication date: 20141112 Termination date: 20200306 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |