CN103381465B - Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators - Google Patents

Abstract

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 to the lower part of the rear lifting arm, and the lower end is hinged to 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

A Forging Manipulator Lifting Mechanism with a Front-Side Linear Drive and a Bottom-mounted Forging Manipulator

technical field

The invention relates to a mechanical engineering device, in particular to a lifting mechanism of a forging manipulator.

Background technique

The forging manipulator is one of the basic tools for large-scale forging pressure processing, and it is used in conjunction with the press. Generally speaking, the forging manipulator needs to realize seven forging operation functions including jaw clamping, tong bar rotation, tong bar lifting, tong bar pitching, tong bar side shifting, tong bar side swinging, and cart travel. Among them, the three actions of jaw clamping, clamp rod rotation, and cart walking are independent from each other in structure, and are respectively driven by motors or hydraulic cylinders. The clamp realizes the clamping and rotating functions of the workpiece, and the cart undertakes the traveling function. The action is realized by the lifting mechanism. At present, there are two types of large-tonnage forging manipulators widely used: parallel link mechanism and side swing lever mechanism. Among them, the parallel link type forging manipulator has high motion decoupling and is easy to control. However, most of the existing parallel-link manipulator mechanisms have front suspension rods connected to the lifting arms by rotating hinges, and the kinematic chain is long, thereby reducing the overall rigidity of the mechanism. In the Chinese patents whose publication numbers are CN102935476A, CN102935483 and CN102941302A, although the front suspension rod is directly connected with the lifting arm by the low pair, the lateral swing of the clamp rod needs to be realized by the overall rotation of the frame, which increases the energy consumption of the manipulator .

Contents of the invention

The object of the present invention is to provide a lifting mechanism for a forging manipulator with a front and side displacement linear drive and an undermounted forging manipulator with high overall rigidity, large bearing capacity and low energy consumption. The invention mainly includes a lifting device, a swing device, a front and rear buffer device, a left and right buffer device, a clamp bar and a frame. The lifting device includes: clamp rods, front struts, a pair of front suspension rods, a pair of front lifting arms, a pair of synchronous rods, a pair of rear lifting arms, a rear sliding rod, a pitching linear drive and a pair of lifting linear drives The swing device includes: a pair of front and rear linear drivers, a pair of rear left and right linear drivers; the front and rear buffer devices include: a pair of front and rear buffer linear drivers and a coordination rod; the pair of front and rear lifting arms, A pair of lifting linear drivers, a pair of front suspension rods, a pair of front and rear buffer linear drivers and a pair of synchronous rods are arranged symmetrically.

Among them: the front part of the clamp rod is connected with the front support rod through the moving pair, the two ends of the front support rod are respectively connected with the lower ends of a pair of front suspension rods through ball joints, and the upper ends of the pair of front suspension rods are respectively connected with a pair of front lifting rods through ball joints. One end of the arm is connected, the other end of the pair of front lifting arms is respectively connected with one end of a pair of synchronous rods through a ball joint, and the other end of the pair of synchronous rods is respectively connected with the upper part of a pair of rear lifting arms through a ball joint. The front and rear lifting arms are respectively connected to the frame through the rotary hinges arranged in the left and right horizontal directions of the axis, the upper end of the pitch linear drive is fixedly connected to the center of the rear slide bar, and the lower end of the pitch linear drive is connected to the rear end of the above-mentioned clamp rod through a ball joint. The upper ends of a pair of lifting linear drivers are respectively connected to the lower parts of the pair of rear lifting arms through ball joints, and the lower ends of the pair of lifting linear drivers are respectively connected to the frame through ball joints; The two ends of the pair of front left and right linear actuators are the moving ends, which are respectively supported on the inner walls of the two sides of the frame; the fixed ends of the pair of rear left and right linear actuators are respectively fixed on both sides of the rear lifting arm, and the pair of rear The two ends of the left and right linear actuators are moving ends, which respectively push against the two ends of the rear slide bar. One end of a pair of front and rear buffer linear drives is respectively connected to the middle part of the clamp bar through a ball joint, and the other end is connected to the two ends of the coordinating bar through a ball joint.

The lifting linear actuator also has a connection method: the upper ends of a pair of lifting linear actuators are respectively connected to the lower parts of a pair of front lifting arms through ball joints, and the lower ends of the pair of lifting linear actuators are respectively connected to the frame through ball joints.

The lifting motion process of the present invention is implemented by two methods: one, the upper end of a pair of lifting linear actuators is connected with the lower part of the rear lifting arm through a ball joint, and its lower end is connected with the frame through a ball joint. During the lifting movement, a pair of lifting linear actuators push the rear lifting arm to drive the rear sliding rod, so that the pitching linear actuator that maintains the original length drives the rear of the clamp rod to perform lifting movement; at the same time, the rear lifting arm drives the two synchronous rods to drive the front lift. The arm drives the two front suspension rods and the front support rod to make the front part of the clamp rod move up and down, so as to realize the synchronous lifting movement of the clamp rod. Its two, the upper end of a pair of lifting linear drive is connected with the lower part of the front lifting arm through the ball joint, and its lower end is connected with the frame through the ball joint. During the lifting movement, the two lifting linear drivers push the front lifting arm to move, thereby driving the two front suspension rods and the front support rod, so that the front part of the clamp rod can do lifting movement; at the same time, the front lifting arm drives the two synchronous rods to push the rear lift The arm drives the rear sliding rod, so that the pitch cylinder, which maintains the original length, drives the rear part of the pliers rod to move up and down, so as to realize the synchronous lifting movement of the pliers rods.

During the pitching movement, the pitching linear driver pushes the rear part of the tong rod, thereby driving the tong rod to perform pitching motion. The side shift and side swing movements are accomplished by two front left and right linear drives and two rear left and right linear drives. The front left and right linear actuators push the front of the tong bar to drive the tong bar to achieve lateral movement; the two rear left and right linear drives push the rear slide bar to move, drive the pitch linear drive to maintain the original length, and drive the tong bar to achieve lateral movement from the rear of the tong bar. When the driving directions of the two front, rear, left and right linear drivers are the same and the size is the same, the pliers rod realizes lateral movement; when the driving directions of the front and rear left and right linear drivers are opposite or the driving amounts are different, the pliers rod realizes side swing motion. During the process of starting and accelerating the cart, stopping and decelerating, and forging forgings, through the telescopic movement of the front and rear cushioning linear drives, the cushioning movement of the clamp rod to adapt to the front and rear abrupt external forces is realized.

Compared with the prior art, the present invention has the following advantages:

1. The front suspension rod of the manipulator is directly connected to the lifting arm through a ball joint, with compact structure and high overall rigidity;

2. The front and rear buffer devices are directly connected to the middle of the clamp rod, which improves the response speed of the buffer and is suitable for forging operations of large/ultra-large forgings.

Description of drawings

Fig. 1 is a schematic diagram of the structure of Embodiment 1 of the present invention.

Fig. 2 is a schematic structural diagram of Embodiment 2 of the present invention.

In the figure: 1, rear lift arm 2, rear slide bar 3, rear left and right linear drive 4, synchronous bar 5, frame 6, front lift arm 7, front suspension rod 8, front support rod 9, front left and right linear drive 10, Clamp rod 11, pitch linear driver 12, front and rear buffer linear driver 13, lifting linear driver 14, coordination rod

Detailed ways

Example 1

In the schematic diagram of the hoisting mechanism of a lower-mounted forging manipulator shown in Figure 1, the front end of the tong rod 10 is connected to the front support rod 8 through a moving pair, and the two ends of the front support rod are respectively connected to each other through a ball joint. The lower ends of a pair of front suspension rods 7 are connected, and the upper ends of the pair of front suspension rods are respectively connected to one end of the lifting arm 6 through a ball joint, and the other ends of the pair of front lifting arms are respectively connected to the pair of synchronizing rods 4 through a ball joint. One end is connected, and the other end of the pair of synchronous rods is connected to the upper part of a pair of rear lifting arms 1 through a ball joint. The above-mentioned pair of front and rear lifting arms are respectively connected to the frame 5 with rotating hinges arranged in the left and right horizontal directions of the axis. The upper end of the driver 11 is fixedly connected to the center of the rear slide bar 2, and its lower end is connected to the rear end of the above-mentioned clamp rod through a ball joint. The lower ends of the lifting linear actuators are respectively connected to the frame through ball joints; the fixed ends of a pair of front, left, and right linear actuators are fixedly connected with a part of the above-mentioned clamp rod, and their moving ends are respectively supported on the inner walls of both sides of the frame; a pair of rear, left, and right The fixed ends of the linear actuator 3 are respectively fixedly connected to both sides of the rear lifting arm, and the moving ends are respectively supported on the two ends of the rear slide bar; one end of a pair of front and rear buffer linear actuators 12 is respectively connected to the middle part of the above-mentioned tong bar through a ball joint, and the other One end is respectively connected with the two ends of the coordinating rod 14 through a spherical hinge, and the coordinating rod is connected on the frame with a rotating hinge arranged in a vertical direction of the axis.

Example 2

In the schematic diagram of the hoisting mechanism of a lower-mounted forging manipulator shown in Figure 2, the upper end of the pitching linear actuator 11 is fixedly connected to the center of the rear slide bar 2, and the lower end passes through the ball joint and the pincer rod 10. The upper end of the lifting linear drive 13 is connected with the lower part of the front lifting arm 6 through a ball joint, and its lower end is connected with the frame 5 through a ball joint. The rest of the rods and their connections are the same as in Embodiment 1.

Claims (3)

1. linear actuator underneath type forging manipulator lifting mechanism is moved in a front side, mainly comprise lifting device, swing device, front-back buffer, left and right buffer unit, claw beam and frame, it is characterized in that: claw beam front end is connected with front support rod by moving sets, these front support rod two ends are connected with two front overhang peg lower ends respectively by ball pivot, its front overhang peg upper end is connected with front lift arm by ball pivot, this front lift arm top is connected with two synchronizing bar front ends by ball pivot, this synchronizing bar rear end is connected with rear lift arm top by ball pivot, before above-mentioned, 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 claw beam rear portion by ball pivot, two lifting linear actuator upper ends are 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 the inwall of frame both sides respectively, after two, left and right linear actuator stiff end is connected in rear lift arm both sides respectively, its tache motorice withstands on the two ends of rear slide bar respectively, before and after two, buffering linear actuator front end is connected with in the middle part of claw beam by ball pivot, its rear end is connected with coordination bar two ends by ball pivot, and the turning joint coordinating to arrange in bar axes normal direction is connected in frame.

2. linear actuator underneath type forging manipulator lifting mechanism is moved in a kind of front side 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 claw beam rear portion by ball pivot, lifting linear actuator upper end is connected with front lift arm bottom by ball pivot, and its lower end is connected with frame by ball pivot.

3. linear actuator underneath type forging manipulator lifting mechanism is moved in a kind of front side according to claims 1, it is characterized in that: two described lifting linear actuators, two front overhang pegs, two front and back buffering linear actuators and two synchronizing bars are all symmetrically arranged.