CN103157742B - Redundant drive straight line lifting forging manipulator - Google Patents
Redundant drive straight line lifting forging manipulator Download PDFInfo
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- CN103157742B CN103157742B CN201310070481.9A CN201310070481A CN103157742B CN 103157742 B CN103157742 B CN 103157742B CN 201310070481 A CN201310070481 A CN 201310070481A CN 103157742 B CN103157742 B CN 103157742B
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- linear actuator
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- lifting
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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 forging pressure weight equipment, is the necessaries that improves forging and stamping production efficiency and forging quality.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.Publication number is that the Chinese patent of CN202155463U discloses a kind of few coupled motions forging manipulator lifting mechanism, its lifting device adopts parallel-crank mechanism form, make its claw beam do translation lifting, but this claw beam movement locus is not straight line level rising completely, in the lifting process of level, be also accompanied by the motion of claw beam front and back, so brought the error of fore-and-aft direction to lifting.For the forging of large-scale longer 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 completely, in forging, add man-hour, two each one end of forging manipulator clamping forge piece, while promoting forging, can make forging generation moment of flexure, reverse, even produce forging internal modification, affect forging quality, so the forging manipulator that proposes complete Linear lifting mechanism is extremely important to improving 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, probably causes that to promote driving force not enough, can not meet job requirement.A kind of shaftless forging manipulator of authorizing Chinese patent that publication No. is CN201192720Y also to disclose, 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 stamping 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: 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, clamp rear end is connected with claw beam front end by turning joint, claw beam rear end is connected with one 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, the two ends of this rear slide bar connect firmly with one end of a pair of rear left and right linear actuator respectively, the other end of this pair of rear left and right linear actuator connects firmly with one end of a pair of rear lift arm respectively, the other end of this rear lift arm is connected with one end of a pair of rear service hoisting arm respectively by turning joint, the other end of this 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 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 one end of front lift arm by turning joint respectively, the other end of this front lift arm is connected with one end of a pair of front service hoisting arm by turning joint respectively, and the other end of this 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 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 one end of a pair of front overhang peg by turning joint respectively, the other end of this pair of front overhang peg is connected with the two ends of front coordination bar by ball pivot respectively, and the middle part of this front coordination bar and above-mentioned claw beam connect firmly near a position of clamp, 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 pair of front and back linear actuator is connected with the two ends of rear coordination bar respectively by ball pivot, the middle part of this rear coordination bar is connected with one end of back link by turning joint, 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. to do upper and lower rectilinear motion, thereby drive claw beam to do straight line elevating movement.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, and before driving, connector is done front and back back and forth movement, and then drives claw beam and clamp to seesaw.Elevating movement process: pitching linear motion driver directly drives claw beam rear end to do and faces upward up and down the motion of bowing.Deflection and offset movement process: before front left and right linear actuator promotes, slide bar moves, and drives a pair of front rod and a pair of front overhang peg, realize 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 pitching linear actuator to move, and drives claw beam to realize transverse movement from claw beam rear portion.Consistent with rear left and right linear actuator driving direction and big or small when identical when front left and right linear actuator, claw beam is realized transverse motion; When front left and right linear actuator is contrary with rear left and right linear actuator driving direction or driving amount is different, claw beam is realized oscillating motion.Clamp rotary course: by driving Shi Qirao rear end, clamp rear end hinge axes to rotate.
The present invention compared with prior art tool has the following advantages:
1, adopt complete Linear lifting, eliminated 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 meeting because lifting force is not enough the requirement of work.
3, there is 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 stamping quality.
Accompanying drawing explanation
Fig. 1 is letter between the solid of the embodiment of the present invention 1 is illustrated.
In figure: 1-clamp, before 2-, coordinate bar, 3-claw beam, linear actuator before and after 4-, 5-synchronising (connecting) rod, after 6-, coordinate bar, 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-, 13-frame, 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, 22-lower link.
the specific embodiment:
In the schematic diagram of the Linear lifting forging manipulator of a kind of redundant drive shown in Fig. 1, clamp 1 rear end is connected with claw beam 3 front ends by turning joint, claw beam rear end is connected with one 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, one end of the two ends of this rear slide bar and a pair of rear left and right linear actuator 9 connects firmly, the other end of this pair of rear left and right linear actuator and one end of rear lift arm 10 connect firmly, the other end of this rear lift arm is connected with one end of a pair of rear service hoisting arm 12 respectively by turning joint, the other end of this 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 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 one end of front lift arm 14 by turning joint respectively, the other end of this front lift arm is connected with one end of a pair of front service hoisting arm 16 by turning joint respectively, and the other end of this 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 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 one end of a pair of front overhang peg 20 by turning joint respectively, the other end of this pair of front overhang peg is connected with the two ends of front coordination bar 2 by ball pivot respectively, and the middle part of this front coordination bar and above-mentioned claw beam connect firmly near a position of clamp, 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 pair of front and back linear actuator is connected with the two ends of rear coordination bar 6 respectively by ball pivot, the middle part of this rear coordination bar 6 is connected with one end of back link 22 by turning joint, 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: clamp rear end is connected with claw beam front end by turning joint, claw beam rear end is connected with one 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, the two ends of this rear slide bar connect firmly with one end of a pair of rear left and right linear actuator respectively, the other end of this pair of rear left and right linear actuator connects firmly with one end of a pair of rear lift arm respectively, the other end of this rear lift arm is connected with one end of a pair of rear service hoisting arm respectively by turning joint, the other end of this 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 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 one end of front lift arm by turning joint respectively, the other end of this front lift arm is connected with one end of a pair of front service hoisting arm by turning joint respectively, and the other end of this 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 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 one end of a pair of front overhang peg by turning joint respectively, the other end of this pair of front overhang peg is connected with the two ends of front coordination bar by ball pivot respectively, and the middle part of this front coordination bar and above-mentioned claw beam connect firmly near a position of clamp, 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 pair of front and back linear actuator is connected with the two ends of rear coordination bar respectively by ball pivot, the middle part of this rear coordination bar is connected with one end of back link by turning joint, 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.
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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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| 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 CN103157742A (en) | 2013-06-19 |
| CN103157742B true CN103157742B (en) | 2014-11-12 |
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Citations (6)
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| 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 |
| 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 Maschbau | Blacksmith manipulator |
| CN102921868A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Six-degree-of-freedom forging 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 |
| 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 (6)
| Title |
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| "一种典型DDS锻造操作机运动学分析";许允斗等;《机械工程学报》;20120205;第48卷(第3期);第50-56页 * |
| "自由锻造操作冗余驱动系统的驱动力分配与协调";范凡等;《机械设计》;20090920;第26卷(第9期);第26-30页 * |
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| 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》.2009,第26卷(第9期),第26-30页. * |
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| CN103157742A (en) | 2013-06-19 |
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