CN103341584A - Linear lifting forging manipulator for optimizing lifting driving device - Google Patents
Linear lifting forging manipulator for optimizing lifting driving device Download PDFInfo
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- CN103341584A CN103341584A CN2013102211233A CN201310221123A CN103341584A CN 103341584 A CN103341584 A CN 103341584A CN 2013102211233 A CN2013102211233 A CN 2013102211233A CN 201310221123 A CN201310221123 A CN 201310221123A CN 103341584 A CN103341584 A CN 103341584A
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Abstract
The invention discloses a linear lifting forging manipulator for optimizing a lifting driving device. According to the linear lifting forging manipulator for optimizing the lifting driving device, a clamp is hinged to a clamp rod, a pitching linear driver is hinged to the clamp rod and a rear slide rod, and the rear slide rod is fixedly connected to a rear left-right linear driver which is fixedly connected to a rear lifting arm; a front lifting arm and the rear lifting arm are hinged to an upper synchronous connecting rod, a lower synchronous connecting rod, a front connecting rod and a rear connecting rod, and the front connecting rod and the rear connecting rod are hinged to a rack; a left lifting linear driver and a right lifting linear driver are hinged to a lifting connecting piece and the rack, the lifting connecting piece is hinged to the front lifting arm, a front coordinating rod is fixedly connected with the clamp rod, a front suspension rod is hinged to the front coordinating rod and a front connecting piece, the front connecting piece is hinged to a front slide rod, the front slide rod is fixedly connected to a front left-right linear driver, the front left-right linear driver is fixedly to the front lifting arm, a front-rear linear driver is hinged to the front suspension rod and a rear coordinating rod, the rear coordinating rod is hinged to a lower connecting rod, and a fixedly-connecting rod is fixedly connected with the upper synchronous connecting rod and the rear coordinating rod. The linear lifting forging manipulator for optimizing the lifting driving device can optimize lifting driving, achieves linear lifting, and enhances accuracy of clamp motion.
Description
Technical field the present invention relates to a kind of forging manipulator.
The background technology forging 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 CN102019340A discloses a kind of forging manipulator claw beam elevating mechanism, its lifting device adopts parallel-crank mechanism, make its claw beam do the translation lifting, but this claw beam lifter motion is not the straight line level rises, in lifting process, also be accompanied by seesawing of claw beam, 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 forging two bring in and forge, if not being straight line, the elevating mechanism of forging manipulator do not rise, when then promoting forging, can make forging generation moment of flexure, reverse, even produce the forging internal modification, influence forging quality.Application number is that 2013100703727 Chinese patent has proposed a kind of straight line hoisting type forging manipulator, its claw beam has realized that complete straight line promotes, and degree of coupling is less, but the lifting linear actuator connects firmly on frame, it is subjected to bigger radial load in the course of the work, increase the internal friction of driver, reduced its service life.
Summary of the invention the object of the present invention is to provide a kind of bearing capacity height, straight line easy to operate, that can eliminate the lifting error to promote forging manipulator.The present invention mainly comprises clamp whirligig, lifting device, elevation mount, front and back buffer unit and deflection offset assembly.Described clamp whirligig comprises: claw beam and clamp; Described lifting device comprises: preceding lift arm, back lift arm, preceding coordination bar, a pair of front overhang peg, a pair of lifting linear actuator, a pair of synchronising (connecting) rod and a pair of preceding connector gone up; 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 preceding left and right sides linear actuator, the left and right sides, a pair of back linear actuator.
First kind of connected mode is: 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 the back slide bar by turning joint, the two ends of this back slide bar connect firmly with an a pair of end of left and right sides linear actuator afterwards respectively, the other end of this a pair of back left and right sides linear actuator connects firmly with an a pair of end of lift arm afterwards respectively, the other end of this back lift arm is connected with an end of a pair of back link respectively by turning joint, and the other end of this a pair of back link is connected with frame respectively by turning joint.One position of above-mentioned back lift arm is connected with an a pair of end of synchronising (connecting) rod down respectively by turning joint, this a pair of other end of synchronising (connecting) rod down is connected with an end of preceding lift arm respectively by turning joint, the other end of lift arm is connected with an end of a pair of front rod respectively by turning joint before being somebody's turn to do, and the other end of this a pair of front rod is connected with frame respectively by turning joint.A position of lift arm is connected with an end of a pair of lifting connector respectively by turning joint before above-mentioned, one end of a pair of left lifting linear actuator and a pair of right lifting linear actuator is connected with above-mentioned a pair of lifting connector by turning joint respectively, its three pivot centers are acute angle respectively, and the other end of above-mentioned a pair of left lifting linear actuator and a pair of right lifting linear actuator is connected with frame by turning joint respectively.One end of a pair of preceding left and right sides linear actuator connects firmly the position at preceding lift arm, and its other end connects firmly the two ends of slide bar before above-mentioned.An end of connector is connected on the preceding slide bar by turning joint before a pair of, 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 preceding coordination bar respectively by ball pivot, should precedingly 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 back coordination bar respectively by ball pivot.The middle part that one end of lower link is coordinated bar by turning joint and above-mentioned back is connected, its other end connects firmly with the middle part that connects firmly bar, these two ends that connect firmly bar connect firmly a position of synchronising (connecting) rod on a pair of respectively, this a pair of end of going up synchronising (connecting) rod is connected by the end of turning joint with the back lift arm respectively, and its other end is connected with a position of preceding lift arm by turning joint respectively.
Second kind of connected mode is: an end of a left lifting linear actuator and a right lifting linear actuator is connected with above-mentioned a pair of lifting connector by turning joint respectively, plane, left and right lifting linear actuator place is identical acute angle with plane, preceding lift arm place respectively, the other end of above-mentioned left lifting linear actuator and right lifting linear actuator is connected with frame by turning joint respectively, and other parts are identical with first kind of connected mode with connected mode.
The elevating movement process of forging manipulator of the present invention: lift arm before left and right lifting linear actuator promotes, slide bar, preceding connector, front overhang peg, preceding coordination bar before driving, the claw beam front end is moved up and down, drive the back lift arm 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 the motion of bowing up and down.Deflection and offset movement process: slide bar moved before preceding left and right sides linear actuator promoted, and drove a pair of front rod, a pair of front overhang peg and preceding coordination bar, realized transverse movement from the anterior claw beam that drives of claw beam; Back left and right sides linear actuator promotes the back slide bar and moves, and drives the pitching linear actuator and moves, and drives claw beam from the claw beam rear portion and realizes transverse movement; During current left and right sides linear actuator and driving force equal and opposite in direction consistent with back left and right sides linear actuator driving direction, claw beam is realized transverse motion; Current left and right sides linear actuator or driving amount opposite with back left and right sides 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, the present invention has reduced the radial force of lifting linear actuator, has optimized the lifting drive unit, has improved the bearing capacity of forging manipulator.
2, the present invention can realize that straight line promotes, and has strengthened stability and the accuracy of clamp motion, has improved the precision of forging.
3, each motion of clamp of the present invention realizes by single driver, has reduced the control difficulty.
Description of drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the invention 1.
Fig. 2 is the three-dimensional simplified schematic diagram of the embodiment of the invention 2.
Among the figure: the 1-clamp, coordinate bar before the 2-, the 3-claw beam, linear actuator before and after the 4-, 5-left side lifting linear actuator, coordinate bar behind the 6-, 7-pitching linear actuator, synchronising (connecting) rod under the 8-, lift arm behind the 9-, the 10-back link, the 11-frame, slide bar behind the 12-, left and right sides linear actuator behind the 13-, the 14-lower link, 15-connects firmly bar, the last synchronising (connecting) rod of 16-, slide bar before the 17-, the 18-front rod, lift arm before the 19-, the preceding left and right sides of 20-linear actuator, 21-promotes connector, the right lifting linear actuator of 22-, connector before the 23-, 24-front overhang peg.
The specific embodiment:
Promote in the simplified schematic diagram of forging manipulator at a kind of straight line that promotes drive unit of optimizing shown in Figure 1, clamp 1 rear end is connected with claw beam 3 front ends by turning joint, these 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 back slide bar 12 by turning joint, the two ends of this back slide bar 12 connect firmly with an a pair of end of left and right sides linear actuator 13 afterwards respectively, the other end of this a pair of back left and right sides linear actuator 13 connects firmly with an a pair of end of lift arm 9 afterwards respectively, the other end of this back lift arm 9 is connected with an end of a pair of back link 10 respectively by turning joint, and the other end of this a pair of back link 10 is connected with frame 11 respectively by turning joint.One position of above-mentioned back lift arm 9 is connected with an a pair of end of synchronising (connecting) rod 8 down respectively by turning joint, this a pair of other end of synchronising (connecting) rod 8 down is connected with an end of preceding lift arm 19 respectively by turning joint, the other end of lift arm 19 is connected with an end of a pair of front rod 18 respectively by turning joint before being somebody's turn to do, and the other end of this a pair of front rod 18 is connected with frame 11 respectively by turning joint.A position of lift arm 19 is connected with an end of a pair of lifting connector 21 respectively by turning joint before above-mentioned, one end of a pair of left lifting linear actuator 5 and a pair of right lifting linear actuator 22 is connected with above-mentioned a pair of lifting connector 21 by turning joint respectively, its three pivot centers are acute angle respectively, and the other end of above-mentioned a pair of left lifting linear actuator 5 and a pair of right lifting linear actuator 22 is connected with frame 11 by turning joint respectively.One end of a pair of preceding left and right sides linear actuator 20 connects firmly the position at preceding lift arm 19, and its other end connects firmly the two ends at preceding slide bar 17.An end of connector 23 is connected on the preceding slide bar 17 by turning joint before a pair of, its other end is connected with an end of a pair of front overhang peg 24 respectively by turning joint, the other end of this a pair of front overhang peg 24 is connected with the two ends of preceding coordination bar 2 respectively by ball pivot, should precedingly 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 24 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 back coordination bar 6 respectively by ball pivot.The middle part that one end of lower link 14 is coordinated bar 6 by turning joint and above-mentioned back is connected, its other end connects firmly with the middle part that connects firmly bar 15, these two ends that connect firmly bar 15 connect firmly a position of synchronising (connecting) rod 16 on a pair of respectively, this a pair of end of going up synchronising (connecting) rod 16 is connected by the end of turning joint with back lift arm 9 respectively, and its other end is connected with a position of preceding lift arm 19 by turning joint respectively.
Promote in the simplified schematic diagram of forging manipulator at a kind of straight line that promotes drive unit of optimizing shown in Figure 2, one end of left side lifting linear actuator 5 and right lifting linear actuator 22 is connected with above-mentioned a pair of lifting connector 21 by turning joint respectively, plane, left and right lifting linear actuator place is identical acute angle with plane, preceding lift arm place respectively, and the other end of above-mentioned left lifting linear actuator 5 and right lifting linear actuator 22 is connected with frame 11 by turning joint respectively.Other parts are identical with above-described embodiment 1 with connected mode.
Claims (2)
1. optimize the straight line lifting forging manipulator that promotes drive unit for one kind, 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 the back slide bar by turning joint, the two ends of this back slide bar connect firmly with an a pair of end of left and right sides linear actuator afterwards respectively, the other end of this a pair of back left and right sides linear actuator connects firmly with an a pair of end of lift arm afterwards respectively, the other end of this back lift arm is connected with an end of a pair of back link respectively by turning joint, and the other end of this a pair of back link is connected with frame respectively by turning joint; One position of above-mentioned back lift arm is connected with an a pair of end of synchronising (connecting) rod down respectively by turning joint, this a pair of other end of synchronising (connecting) rod down is connected with an end of preceding lift arm respectively by turning joint, the other end of lift arm is connected with an end of a pair of front rod respectively by turning joint before being somebody's turn to do, and the other end of this a pair of front rod is connected with frame respectively by turning joint; A position of lift arm is connected with an end of a pair of lifting connector respectively by turning joint before above-mentioned, one end of a pair of left lifting linear actuator and a pair of right lifting linear actuator is connected with above-mentioned a pair of lifting connector by turning joint respectively, its three pivot centers are acute angle respectively, and the other end of above-mentioned a pair of left lifting linear actuator and a pair of right lifting linear actuator is connected with frame by turning joint respectively; One end of a pair of preceding left and right sides linear actuator connects firmly the position at preceding lift arm, and its other end connects firmly the two ends at preceding slide bar; An end of connector is connected on the preceding slide bar by turning joint before a pair of, 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 preceding coordination bar respectively by ball pivot, should precedingly 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 back coordination bar respectively by ball pivot; The middle part that one end of lower link is coordinated bar by turning joint and above-mentioned back is connected, its other end connects firmly with the middle part that connects firmly bar, these two ends that connect firmly bar connect firmly a position of synchronising (connecting) rod on a pair of respectively, this a pair of end of going up synchronising (connecting) rod is connected by the end of turning joint with the back lift arm respectively, and its other end is connected with a position of preceding lift arm by turning joint respectively.
2. optimize the straight line lifting forging manipulator that promotes drive unit for one kind, 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 the back slide bar by turning joint, the two ends of this back slide bar connect firmly with an a pair of end of left and right sides linear actuator afterwards respectively, the other end of this a pair of back left and right sides linear actuator connects firmly with an a pair of end of lift arm afterwards respectively, the other end of this back lift arm is connected with an end of a pair of back link respectively by turning joint, and the other end of this a pair of back link is connected with frame respectively by turning joint; One position of above-mentioned back lift arm is connected with an a pair of end of synchronising (connecting) rod down respectively by turning joint, this a pair of other end of synchronising (connecting) rod down is connected with an end of preceding lift arm respectively by turning joint, the other end of lift arm is connected with an end of a pair of front rod respectively by turning joint before being somebody's turn to do, and the other end of this a pair of front rod is connected with frame respectively by turning joint; A position of lift arm is connected with an end of a pair of lifting connector respectively by turning joint before above-mentioned, one end of left side lifting linear actuator and right lifting linear actuator is connected with above-mentioned a pair of lifting connector by turning joint respectively, plane, left and right lifting linear actuator place is identical acute angle with plane, preceding lift arm place respectively, and the other end of above-mentioned left lifting linear actuator and right lifting linear actuator is connected with frame by turning joint respectively; One end of a pair of preceding left and right sides linear actuator connects firmly the position at preceding lift arm, and its other end connects firmly the two ends at preceding slide bar; An end of connector is connected on the preceding slide bar by turning joint before a pair of, 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 preceding coordination bar respectively by ball pivot, should precedingly 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 back coordination bar respectively by ball pivot; The middle part that one end of lower link is coordinated bar by turning joint and above-mentioned back is connected, its other end connects firmly with the middle part that connects firmly bar, these two ends that connect firmly bar connect firmly a position of synchronising (connecting) rod on a pair of respectively, this a pair of end of going up synchronising (connecting) rod is connected by the end of turning joint with the back lift arm respectively, and its other end is connected with a position of preceding lift arm by turning joint respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310221123.3A CN103341584B (en) | 2013-06-06 | 2013-06-06 | Linear lifting forging manipulator for optimizing lifting driving device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310221123.3A CN103341584B (en) | 2013-06-06 | 2013-06-06 | Linear lifting forging manipulator for optimizing lifting driving device |
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| CN103341584B CN103341584B (en) | 2015-06-10 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104209440A (en) * | 2014-08-20 | 2014-12-17 | 燕山大学 | Forging operation machine with optimized deflection mechanism |
| CN104325062A (en) * | 2014-10-17 | 2015-02-04 | 燕山大学 | Pitching linear actuator and machine frame connection type forging manipulator |
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| US4420287A (en) * | 1980-05-24 | 1983-12-13 | Sms Schloemann-Siemag Aktiengesellschaft | Gripper feed and gripper resilience cylinders on forging manipulators |
| EP0255634A2 (en) * | 1986-07-31 | 1988-02-10 | SMS Hasenclever GmbH | Forging manipulator |
| DE10128451B4 (en) * | 2001-05-17 | 2005-02-03 | Dango & Dienenthal Maschinenbau Gmbh | 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 |
| CN102941303A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Forging manipulator with few coupled motions |
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2013
- 2013-06-06 CN CN201310221123.3A patent/CN103341584B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4420287A (en) * | 1980-05-24 | 1983-12-13 | Sms Schloemann-Siemag Aktiengesellschaft | Gripper feed and gripper resilience cylinders on forging manipulators |
| EP0255634A2 (en) * | 1986-07-31 | 1988-02-10 | SMS Hasenclever GmbH | Forging manipulator |
| DE10128451B4 (en) * | 2001-05-17 | 2005-02-03 | Dango & Dienenthal Maschinenbau Gmbh | 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 |
| CN102941303A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Forging manipulator with few coupled motions |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104209440A (en) * | 2014-08-20 | 2014-12-17 | 燕山大学 | Forging operation machine with optimized deflection mechanism |
| CN104209440B (en) * | 2014-08-20 | 2016-03-02 | 燕山大学 | A kind of forging manipulator optimizing deflection mechanism |
| CN104325062A (en) * | 2014-10-17 | 2015-02-04 | 燕山大学 | Pitching linear actuator and machine frame connection type forging manipulator |
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| CN103341584B (en) | 2015-06-10 |
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