CN103381465A - Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators - Google Patents
Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators Download PDFInfo
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- CN103381465A CN103381465A CN2013102734819A CN201310273481A CN103381465A CN 103381465 A CN103381465 A CN 103381465A CN 2013102734819 A CN2013102734819 A CN 2013102734819A CN 201310273481 A CN201310273481 A CN 201310273481A CN 103381465 A CN103381465 A CN 103381465A
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- 238000005242 forging Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 title claims abstract description 15
- 230000003139 buffering effect Effects 0.000 claims abstract description 9
- 210000000078 claw Anatomy 0.000 claims description 41
- 230000004044 response Effects 0.000 abstract description 2
- 210000000080 chela (arthropods) Anatomy 0.000 abstract 1
- 239000000725 suspension Substances 0.000 abstract 1
- 230000003028 elevating effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
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Abstract
一种前侧移直线驱动器下置式锻造操作机提升机构，钳杆前端通过移动副与前支杆连接，前支杆与前悬挂杆下端铰接，其上端与前提升臂绞接，前提升臂与同步杆前端铰接，同步杆后端与后提升臂铰接，前、后提升臂通过转动铰链与机架连接，俯仰直线驱动器上端固连在后滑杆中心处，其下端与钳杆后部绞接，升降直线驱动器上端与后提升臂下部铰接，其下端与机架铰接。前左右直线驱动器固定端与钳杆固连，其运动端顶在机架内壁上；后左右直线驱动器固定端与后提升臂固连，其运动端顶在后滑杆的两端。前后缓冲直线驱动器前端与钳杆中部铰接，其后端与协调杆铰接，协调杆通过转动铰链连接在机架上，本发明具有结构紧凑、整体刚度大以及缓冲响应速度快的特点。
A lifting mechanism for a forging manipulator with a front side-moving linear drive and a lower-mounted forging manipulator. The front end of the tong rod is connected to the front support rod through a moving pair, the front support rod is hinged to the lower end of the front suspension rod, and its upper end is hinged to the front lifting arm. The front end of the synchronization rod is hinged, the rear end of the synchronization rod is hinged with the rear lifting arm, the front and rear lifting arms are connected to the frame through the rotating hinge, the upper end of the pitch linear drive is fixed at the center of the rear sliding rod, and its lower end is hinged with the rear of the clamp rod , the upper end of the lifting linear drive is hinged with the lower part of the rear lifting arm, and the lower end is hinged with the frame. The fixed end of the front left and right linear drivers is fixedly connected with the pincer rod, and its moving end is pushed against the inner wall of the frame; the fixed end of the rear left and right linear drivers is fixedly connected with the rear lifting arm, and its moving end is pushed against the two ends of the rear slide bar. The front end of the front and rear buffer linear drive is hinged with the middle part of the clamp rod, and the rear end is hinged with the coordinating rod. The coordinating rod is connected to the frame through a rotating hinge. The invention has the characteristics of compact structure, high overall rigidity and fast buffering response speed.
Description
Technical field
The present invention relates to a kind of mechanical engineering device, particularly a kind of forging manipulator lifting mechanism.
Background technology
Forging manipulator is one of basic tool of large-sized forging pressure processing, is used in conjunction with forcing press.In general, forging manipulator need to realize comprising seven forging operation functions such as jaw clamping, claw beam rotation, claw beam lifting, claw beam pitching, claw beam sidesway, claw beam side-sway, large vehicle walking.Wherein, jaw clamps, claw beam rotation, three actions of large vehicle walking are separate on the structure, and respectively by motor or hydraulic cylinder drive, clamp is realized clamping and the spinfunction of workpiece, and cart is born walking function, and remaining action is realized by hoisting mechanism.At present usage comparison widely large-tonnage forging manipulator form two kinds, parallel rod formula mechanism and side-swinging lever-action type mechanism arranged.Wherein the mobile decoupling of parallel rod formula forging manipulator is higher, is easy to control.Yet existing most of parallel rod formula manipulator mechanism front overhang peg is connected on lift arm by turning joint, the motion chain length, thus lowered the integral rigidity of mechanism.Publication No. is the Chinese patent of CN102935476A, CN102935483 and CN102941302A, although the front overhang peg adopts lower pair directly to be connected with lift arm, but the sideshake of claw beam need to lean on the unitary rotation of frame to realize, has strengthened the energy consumption of manipulator.
Summary of the invention
The object of the present invention is to provide the front sidesway linear actuator underneath type forging manipulator lifting mechanism that a kind of integral rigidity is high, bearing capacity large, energy consumption is low.The present invention mainly comprises lifting device, swings device, front and back buffer unit, left and right buffer unit, claw beam and frame.Described lifting device comprises: claw beam, front support rod, a pair of front overhang peg, a pair of front lift arm, a pair of synchronizing bar, a pair of rear lift arm, rear slide bar, pitching linear actuator and a pair of lifting linear actuator; The described device that swings comprises: a pair of front left and right linear actuator, a pair of rear left and right linear actuator; Described front and back buffer unit comprises: a pair of front and back buffering linear actuator and coordination bar; Described a pair of front and back lift arm, a pair of lifting linear actuator, a pair of front overhang peg, a pair of front and back buffering linear actuator and a pair of synchronizing bar all are symmetrically arranged.
wherein: the claw beam front portion is connected with front support rod by moving sets, this front support rod two ends are connected with a pair of front overhang peg lower end by ball pivot respectively, this a pair of front overhang peg upper end is connected with an end of a pair of front lift arm by ball pivot respectively, the other end of this a pair of front lift arm is connected with an end of a pair of synchronizing bar by ball pivot respectively, the other end of this a pair of synchronizing bar is connected with a pair of rear lift arm top by ball pivot respectively, above-mentioned a pair of before, rear lift arm is connected with frame by the turning joint that axis left and right horizontal direction is arranged respectively, pitching linear actuator upper end is connected in rear slide bar center, this pitching linear actuator lower end is connected with above-mentioned claw beam rear end by ball pivot, a pair of lifting linear actuator upper end is connected with above-mentioned a pair of rear lift arm bottom by ball pivot respectively, this a pair of lifting linear actuator lower end is connected with frame by ball pivot respectively, one position of a pair of front left and right linear actuator stiff end and above-mentioned claw beam is connected, and this a pair of front left and right linear actuator two ends are tache motorice, withstand on respectively on the inwall of frame both sides, a pair of rear left and right linear actuator stiff end is connected in respectively rear lift arm both sides, and these linear actuator two ends, a pair of rear left and right are tache motorice, withstand on respectively the two ends of rear slide bar.One end of a pair of front and back buffering linear actuator is connected with above-mentioned claw beam middle part by ball pivot respectively, and its other end is connected with coordination bar two ends by ball pivot respectively, and this coordination bar is connected on frame with the turning joint of axis vertical direction layout.
Described lifting linear actuator also has a kind of connected mode: a pair of lifting linear actuator upper end is connected with a pair of front lift arm bottom by ball pivot respectively, and this a pair of lifting linear actuator lower end is connected with frame by ball pivot respectively.
Elevating movement process of the present invention is implemented by two kinds of methods: one, and a pair of lifting linear actuator upper end is connected with rear lift arm bottom by ball pivot, and its lower end is connected with frame by ball pivot.During elevating movement, slide bar after after a pair of lifting linear actuator promotes, lift arm drives moves up and down thereby make the pitching linear actuator that keeps former length drive the claw beam rear portion; Simultaneously lift arm being by driving two synchronizing bars and then promote front lift arm, makes the claw beam front portion move up and down thereby drive two front overhang pegs and front support rod, to realize the synchronization lifting motion of claw beam.Its two, a pair of lifting linear actuator upper end is connected with the front lift arm bottom by ball pivot, its lower end is connected with frame by ball pivot.During elevating movement, two lifting linear actuators promote the front lift arms motion, thereby drive two front overhang pegs and front support rod, and the claw beam front portion is moved up and down; Simultaneously front lift arm by drive two synchronizing bars so that promote after lift arm drive after slide bar, move up and down thereby make the pitching cylinder that keeps former length drive the claw beam rear portion, to realize the synchronization lifting motion of claw beam.
Elevating movement process, pitching linear actuator promote the claw beam rear portion, do elevating movement thereby drive claw beam.The motion of sidesway and side-sway is completed by left and right linear actuator after two front left and right linear actuators and two.The front left and right linear actuator promotes the anterior claw beam that drives of claw beam and realizes transverse movement; After after two, the left and right linear actuator promotes, slide bar moves, and drives the pitching linear actuator that keeps former length, realizes transverse movement from claw beam rear portion drive claw beam.Consistent and big or small when identical when two forward and backward left and right linear actuator driving directions, claw beam is realized lateral translational movement; Opposite or the driving amount of current, rear left and right linear actuator driving direction not simultaneously, claw beam is realized the side-sway motion.In cart Acceleration of starting, stop deceleration and forging process for fuel process, cushion the stretching motion of linear actuator by front and back, realize the kicking motion that claw beam adapts to front and back sudden change external force.
The present invention compared with prior art has following advantage:
1, this manipulator front overhang peg directly is connected with lift arm by ball pivot, compact conformation, and integral rigidity is large;
2, the front and back buffer unit is directly connected in the middle part of claw beam, has improved the response speed of buffering, is suitable for the forging operation of large-scale/ultra-large type forging.
Description of drawings
Fig. 1 is the structural representation sketch of the embodiment of the present invention 1.
Fig. 2 is the structural representation sketch of the embodiment of the present invention 2.
In figure: 1, rear lift arm 2, rear slide bar 3, rear left and right linear actuator 4, synchronizing bar 5, frame 6, front lift arm 7, front overhang peg 8, front support rod 9, front left and right linear actuator 10, claw beam 11, pitching linear actuator 12, front and back buffering linear actuator 13, lifting linear actuator 14, coordination bar
The specific embodiment
in a kind of front sidesway linear actuator underneath type forging manipulator lifting mechanism simplified schematic diagram shown in Figure 1, claw beam 10 front ends are connected with front support rod 8 by moving sets, this front support rod two ends are connected with a pair of front overhang peg 7 lower ends by ball pivot respectively, this a pair of front overhang peg upper end is connected with an end of mentioning front lift arm 6 by ball pivot respectively, this a pair of front lift arm other end is connected with an end of a pair of synchronizing bar 4 by ball pivot respectively, the other end of this a pair of synchronizing bar is connected with a pair of rear lift arm 1 top by ball pivot, above-mentioned a pair of before, rear lift arm is connected with frame 5 with the turning joint that axis left and right horizontal direction is arranged respectively, pitching linear actuator 11 upper ends are connected in rear slide bar 2 centers, its lower end is connected with above-mentioned claw beam rear end by ball pivot, a pair of lifting linear actuator 13 upper ends are connected with above-mentioned a pair of rear lift arm bottom by ball pivot respectively, this a pair of lifting linear actuator lower end is connected with frame by ball pivot respectively, one position of a pair of front left and right linear actuator 9 stiff ends and above-mentioned claw beam is connected, and its tache motorice withstands on respectively on the inwall of frame both sides, a pair of rear left and right linear actuator 3 stiff ends are connected in respectively rear lift arm both sides, and its tache motorice withstands on respectively the two ends of rear slide bar, one end of a pair of front and back buffering linear actuator 12 is connected with above-mentioned claw beam middle part by ball pivot respectively, and its other end is connected with coordination bar 14 two ends by ball pivot respectively, and this coordination bar is connected on frame with the turning joint of axis vertical direction layout.
In a kind of front sidesway linear actuator underneath type forging manipulator lifting mechanism simplified schematic diagram shown in Figure 2, pitching linear actuator 13 upper ends are connected in rear slide bar 2 centers, its lower end is connected with claw beam 10 rear portions by ball pivot, lifting linear actuator 11 upper ends are connected with front lift arm 6 bottoms by ball pivot, and its lower end is connected with frame 5 by ball pivot.All the other rod members and annexation are identical with embodiment 1.
Claims (3)
1. sidesway linear actuator underneath type forging manipulator lifting mechanism before a kind, mainly comprise lifting device, swing device, the front and back buffer unit, the left and right buffer unit, claw beam and frame, it is characterized in that: the claw beam front end is connected with front support rod by moving sets, this front support rod two ends are connected with two front overhang peg lower ends by ball pivot respectively, its front overhang peg upper end is connected with front lift arm by ball pivot, this front lift arm top is connected with the synchronizing bar front end by ball pivot, this synchronizing bar rear end is connected with rear lift arm top by ball pivot, before above-mentioned two, rear lift arm is connected with frame with the turning joint that axis left and right horizontal direction is arranged respectively, pitching linear actuator upper end is connected in rear slide bar center, its lower end is connected with the claw beam rear portion by ball pivot, lifting linear actuator upper end is connected with above-mentioned rear lift arm bottom by ball pivot, its lower end is connected with frame by ball pivot, two front left and right linear actuator stiff ends and claw beam are connected, its tache motorice withstands on respectively on the inwall of frame both sides, two rear left and right linear actuator stiff ends are connected in respectively rear lift arm both sides, its tache motorice withstands on respectively the two ends of rear slide bar, buffering linear actuator front end is connected by in the middle part of ball pivot and claw beam before and after two, its rear end by ball pivot with coordinate bar two ends and be connected, coordinate bar and be connected on frame with the turning joint of axis vertical direction layout.
2. a kind of front sidesway linear actuator underneath type forging manipulator lifting mechanism described according to claims 1, it is characterized in that: pitching linear actuator upper end is connected in rear slide bar center, its lower end is connected with the claw beam rear portion by ball pivot, lifting linear actuator upper end is connected with the front lift arm bottom by ball pivot, and its lower end is connected with frame by ball pivot.
3. a kind of front sidesway linear actuator underneath type forging manipulator lifting mechanism described according to claims 1 is characterized in that: before and after described two lifting linear actuators, two front overhang pegs, two, buffering linear actuators and two synchronizing bars all are symmetrically arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310273481.9A CN103381465B (en) | 2013-07-01 | 2013-07-01 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310273481.9A CN103381465B (en) | 2013-07-01 | 2013-07-01 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
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| CN103381465A true CN103381465A (en) | 2013-11-06 |
| CN103381465B CN103381465B (en) | 2015-06-10 |
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| CN201310273481.9A Expired - Fee Related CN103381465B (en) | 2013-07-01 | 2013-07-01 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118989220A (en) * | 2024-08-28 | 2024-11-22 | 燕山大学 | Main movement mechanism of heterogeneous double-forging manipulator |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1068877A (en) * | 1964-08-20 | 1967-05-17 | Schwermaschb Heinrich Rau Veb | Improvements in and relating to manipulators for forgings |
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
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| CN102921871A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Multi-suspension-rod combined forging manipulator |
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| CN202894191U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Less coupling motor type forging manipulator |
| CN202963351U (en) * | 2012-10-30 | 2013-06-05 | 燕山大学 | Componental movement decoupling type forging manipulator |
-
2013
- 2013-07-01 CN CN201310273481.9A patent/CN103381465B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1068877A (en) * | 1964-08-20 | 1967-05-17 | Schwermaschb Heinrich Rau Veb | Improvements in and relating to manipulators for forgings |
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN102921867A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator |
| CN102921871A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Multi-suspension-rod combined forging manipulator |
| CN102935480A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Little kinematic coupling type six-degree-of-freedom forging manipulator |
| CN202894191U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Less coupling motor type forging manipulator |
| CN202963351U (en) * | 2012-10-30 | 2013-06-05 | 燕山大学 | Componental movement decoupling type forging manipulator |
Non-Patent Citations (2)
| Title |
|---|
| 孔祥东等: "锻造操作机夹钳平行升降机构运动学特性分析", 《燕山大学学报》 * |
| 许允斗等: "基于螺旋理论的锻造操作机构型综合", 《中国机械工程》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118989220A (en) * | 2024-08-28 | 2024-11-22 | 燕山大学 | Main movement mechanism of heterogeneous double-forging manipulator |
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| CN103381465B (en) | 2015-06-10 |
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