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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Abstract
The invention provides a forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators. The front end of a nippling lever is connected with a front supporting rod through a sliding pair; the front supporting rod is hinged to the lower ends of front suspension rods; the upper ends of the front suspension rods are hinged to front lifting arms; the front lifting arms are hinged to the front ends of synchronous rods; the rear ends of the synchronous rods are hinged to rear lifting arms; the front lifting arms and the rear lifting arms are connected with a machine frame through rotary hinges; the upper end of a pitching linear actuator is fixedly connected to the center of a rear sliding rod, and the lower end of the pitching linear actuator is hinged to the rear part of the nippling lever; the upper ends of lifting linear actuators are hinged to the lower parts of the rear lifting arms, and the lower ends of the lifting linear actuators are hinged to the machine frame; the fixed ends of front horizontal-moving linear actuators are fixedly connected with the nippling lever, and the moving ends of the front horizontal-moving linear actuators are propped against the inner wall of the machine frame; the fixed ends of rear horizontal-moving linear actuators are fixedly connected with the rear lifting arms, and the moving ends of the rear horizontal-moving linear actuators are propped against the two ends of the rear sliding rod; the front ends of front and rear buffering linear actuators are hinged to the middle part of the nippling lever, and the rear ends of the front and rear buffering linear actuators are hinged to a coordination rod; the coordination rod is connected to the machine frame through the rotary hinges. The forging manipulator lifting mechanism has the characteristics of compact structure, large overall rigidity and high 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.
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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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| 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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Citations (8)
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|---|---|---|---|---|
| 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 |
| CN102921871A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Multi-suspension-rod combined forging manipulator |
| CN102921867A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | 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 |
-
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 |
| CN102921871A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Multi-suspension-rod combined forging manipulator |
| CN102921867A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | 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 |
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| 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》 * |
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