CN103157742A - Redundant drive straight line lifting forging manipulator - Google Patents
Redundant drive straight line lifting forging manipulator Download PDFInfo
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- CN103157742A CN103157742A CN2013100704819A CN201310070481A CN103157742A CN 103157742 A CN103157742 A CN 103157742A CN 2013100704819 A CN2013100704819 A CN 2013100704819A CN 201310070481 A CN201310070481 A CN 201310070481A CN 103157742 A CN103157742 A CN 103157742A
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Abstract
The invention provides a redundant drive straight line lifting forging manipulator. A clamp and a claw beam are connected. A pitching straight line drive device is hinged with the claw beam and a rear slide rod. A rear left-right straight line drive device is fixedly connected with the rear slide rod and a rear lifting arm. A rear auxiliary lifting arm is hinged with the rear lifting arm and a machine frame. A rear lifting straight line drive device is hinged with the rear lifting arm and fixedly connected with the machine frame. A synchronous connecting rod is hinged with the rear lifting arm and a front lifting arm. A front auxiliary lifting arm is hinged with the front lifting arm and the machine frame. A front lifting straight line drive device is connected with the front lifting arm and fixedly connected with the machine frame. A front left-right straight line drive device is fixedly connected with the front lifting arm and a front slide rod. A front connecting piece is hinged with the front slide rod and a front hanging rod. The front hanging rod is hinged with a front coordination rod. The front coordination rod is fixedly connected with the claw beam. A front-rear straight line drive device is hinged with the front hanging rod and a rear coordination rod which is hinged with a lower connecting rod fixedly connected with a fixing connection rod. Two ends of the fixing connection rod are fixedly connected on the synchronous connecting rod. The manipulator is strong in bearing capacity, and improves quality and precision of forge pieces.
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.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.Publication number is that the Chinese patent of CN202155463U discloses a kind of few coupled motions forging manipulator lifting mechanism, its lifting device adopts the parallel-crank mechanism form, make its claw beam do translation lifting, but this claw beam movement locus is not to be straight line level rising completely, also be accompanied by the motion of claw beam front and back in the lifting process of level, so brought the error of fore-and-aft direction to lifting.For the forging of large-scale long axial workpiece need two forging manipulators respectively the auxiliary operation of clamping forge piece two ends forge, if the elevating mechanism of forging manipulator is not that straight line rises adds man-hour in forging completely, two each ends of forging manipulator clamping forge piece, when promoting forging, can make forging generation moment of flexure, reverse, even produce the forging internal modification, affect forging quality, so the forging manipulator that proposes complete Linear lifting mechanism is extremely important to improving the 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.Authorizing publication No. is a kind of shaftless forging manipulator that the Chinese patent of CN201192720Y also discloses, and lacks transverse movement, in forging process, and the kicking motion that the sudden change external force of horizontal direction can not adapt to, and then affected the forging and pressing quality of forging.
Summary of the inventionThe object of the present invention is to provide the Linear lifting forging manipulator that a kind of bearing capacity is high, can effectively improve the redundant 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, 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.
wherein, the clamp rear end is connected with the claw beam front end by turning joint, the 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 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 by turning joint respectively, and the other end of this a pair of rear lifting linear actuator connects firmly with frame respectively, one end of a pair of synchronising (connecting) rod is connected with a position of above-mentioned rear lift arm by turning joint respectively, the other end of this synchronising (connecting) rod is connected with an end of front lift arm by turning joint respectively, the other end of this front lift arm is connected with an end of a pair of front service hoisting arm by turning joint respectively, and the other end of this a pair of front service hoisting arm is connected with frame by turning joint respectively, one end of a pair of front lifting linear actuator is connected with a position of above-mentioned front lift arm by turning joint respectively, 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 left and right linear actuator connects firmly with a position of front lift arm respectively, and its other end connects firmly with the two ends of front slide bar respectively, one end of a pair of front connector is connected on above-mentioned front slide bar by turning joint respectively, its other end is connected with an end of a pair of front overhang peg by turning joint respectively, the other end of this a pair of front overhang peg is connected by the two ends of ball pivot with front coordination bar respectively, and the middle part of coordinating bar before this connects firmly with a position of the close clamp of above-mentioned claw beam, 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, should be connected with an end of back link by turning joint at rear middle part of coordinating bar, the other end of this back link connects firmly at the middle part that connects firmly bar, and these two ends that connect firmly bar connect firmly respectively on above-mentioned synchronising (connecting) rod.
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 promote front lift arm and rear lift arm, drive front slide bar, front connector, front overhang peg, front coordination bar, rear slide bar etc. and do 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: 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 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 the pitching linear actuator 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, adopt complete Linear lifting, eliminated the lifting error, effectively improved the precision of forging.
2, redundant drive lays respectively at the front-end and back-end of hoisting mechanism, has effectively improved the bearing capacity of mechanism, has avoided can not satisfying because lifting force is not enough the requirement of work.
3, have each to kicking motion, to each kicking motion that can adapt to fast to the sudden change external force of direction in forging process, improve forging forging and pressing quality.
Description of drawings
Fig. 1 is letter between the solid of the embodiment of the present invention 1 is illustrated.
in figure: the 1-clamp, coordinate bar before 2-, the 3-claw beam, linear actuator before and after 4-, the 5-synchronising (connecting) rod, coordinate bar after 6-, 7-pitching linear actuator, slide bar after 8-, left and right linear actuator after 9-, lift arm after 10-, lifting linear actuator after 11-, service hoisting arm after 12-, the 13-frame, the 14-front lift arm, lifting linear actuator before 15-, service hoisting arm before 16-, 17-front left and right linear actuator, slide bar before 18-, connector before 19-, 20-front overhang peg, 21-connects firmly bar, the 22-lower link.
The specific embodiment:
in the schematic diagram of the Linear lifting forging manipulator of a kind of redundant drive 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 pitching linear actuator 7 by ball pivot, the other end of this pitching linear actuator 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, one end of a pair of synchronising (connecting) rod 5 is connected with a position of above-mentioned rear lift arm by turning joint respectively, the other end of this synchronising (connecting) rod is connected with an end of front lift arm 14 by turning joint respectively, the other end of this front lift arm is connected with an end of a pair of front service hoisting arm 16 by turning joint respectively, and the other end of this a pair of front service hoisting arm is connected with frame by turning joint respectively, one end of a pair of front lifting linear actuator 15 is connected with a position of above-mentioned front lift arm by turning joint respectively, 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 left and right linear actuator 17 connects firmly with a position of front lift arm respectively, and its other end connects firmly with the two ends of front slide bar 18 respectively, one end of a pair of front connector 19 is connected on above-mentioned front slide bar by turning joint respectively, its other end is connected with an end of a pair of front overhang peg 20 by turning joint respectively, the other end of this a pair of front overhang peg is connected by the two ends of ball pivot with front coordination bar 2 respectively, and the middle part of coordinating bar before this connects firmly with a position of the close clamp of above-mentioned claw beam, 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, should be connected with an end of back link 22 by turning joint at rear middle part of coordinating bar 6, the other end of this back link 22 connects firmly at the middle part that connects firmly bar 21, and these two ends that connect firmly bar 21 connect firmly respectively on above-mentioned synchronising (connecting) rod 5.
Claims (1)
1. the Linear lifting forging manipulator of a redundant drive, it is characterized in that: the clamp rear end is connected with the claw beam front end by turning joint, the 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 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 by turning joint respectively, and the other end of this a pair of rear lifting linear actuator connects firmly with frame respectively, one end of a pair of synchronising (connecting) rod is connected with a position of above-mentioned rear lift arm by turning joint respectively, the other end of this synchronising (connecting) rod is connected with an end of front lift arm by turning joint respectively, the other end of this front lift arm is connected with an end of a pair of front service hoisting arm by turning joint respectively, and the other end of this a pair of front service hoisting arm is connected with frame by turning joint respectively, one end of a pair of front lifting linear actuator is connected with a position of above-mentioned front lift arm by turning joint respectively, 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 left and right linear actuator connects firmly with a position of front lift arm respectively, and its other end connects firmly with the two ends of front slide bar respectively, one end of a pair of front connector is connected on above-mentioned front slide bar by turning joint respectively, its other end is connected with an end of a pair of front overhang peg by turning joint respectively, the other end of this a pair of front overhang peg is connected by the two ends of ball pivot with front coordination bar respectively, and the middle part of coordinating bar before this connects firmly with a position of the close clamp of above-mentioned claw beam, 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, should be connected with an end of back link by turning joint at rear middle part of coordinating bar, the other end of this back link connects firmly at the middle part that connects firmly bar, and these two ends that connect firmly bar connect firmly respectively on above-mentioned synchronising (connecting) rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310070481.9A CN103157742B (en) | 2013-03-06 | 2013-03-06 | Redundant drive straight line lifting forging manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310070481.9A CN103157742B (en) | 2013-03-06 | 2013-03-06 | Redundant drive straight line lifting forging manipulator |
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| CN103157742A true CN103157742A (en) | 2013-06-19 |
| CN103157742B CN103157742B (en) | 2014-11-12 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschinenbau Gmbh, 57072 Siegen | Blacksmith manipulator |
| CN102921869A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Double-lift driven forging manipulator |
| CN102921867A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator |
| CN102921868A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Six-degree-of-freedom forging manipulator |
| CN102941305A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Lift arm suspension type forging manipulator |
| CN203091649U (en) * | 2013-03-06 | 2013-07-31 | 燕山大学 | Forging manipulator achieving straight-line lifting under redundant drive |
-
2013
- 2013-03-06 CN CN201310070481.9A patent/CN103157742B/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 Maschinenbau Gmbh, 57072 Siegen | Blacksmith manipulator |
| CN102921869A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Double-lift driven forging manipulator |
| CN102921867A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator |
| CN102921868A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Six-degree-of-freedom forging manipulator |
| CN102941305A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Lift arm suspension type forging manipulator |
| CN203091649U (en) * | 2013-03-06 | 2013-07-31 | 燕山大学 | Forging manipulator achieving straight-line lifting under redundant drive |
Non-Patent Citations (3)
| Title |
|---|
| 范凡等: ""自由锻造操作冗余驱动系统的驱动力分配与协调"", 《机械设计》 * |
| 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》 * |
| 许允斗等: ""锻造操作机提升机构设计方法"", 《机械工程学报》 * |
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| CN103157742B (en) | 2014-11-12 |
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Granted publication date: 20141112 Termination date: 20200306 |