CN103381465B - 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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- CN103381465B CN103381465B CN201310273481.9A CN201310273481A CN103381465B CN 103381465 B CN103381465 B CN 103381465B CN 201310273481 A CN201310273481 A CN 201310273481A CN 103381465 B CN103381465 B CN 103381465B
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- linear actuator
- ball pivot
- linear actuators
- lift arm
- lifting
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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, with forcing press with the use of.In general, forging manipulator needs realization to comprise 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 clamping, claw beam rotate, large vehicle walking three actions are separate structure, and respectively by motor or hydraulic cylinder drive, clamp realizes clamping and the spinfunction of workpiece, and walking function born by cart, and remaining action is realized by hoisting mechanism.Current use more widely large-tonnage forging manipulator form has parallel link mechanism and two kinds, side-swinging lever-action type mechanism.Wherein the mobile decoupling of parallel link forging manipulator is higher, is easy to control.But existing most of parallel link operations machine mechanism front overhang peg is connected on lift arm by turning joint, motion chain length, thus the integral rigidity reducing mechanism.Publication No. is the Chinese patent of CN102935476A, CN102935483 and CN102941302A, although front overhang peg adopts lower pair to be directly connected with lift arm, but the sideshake of claw beam needs to realize by the unitary rotation of frame, increases the energy ezpenditure of manipulator.
Summary of the invention
The front side that a kind of integral rigidity is high, bearing capacity is large, energy ezpenditure is low is the object of the present invention is to provide to move linear actuator underneath type forging manipulator lifting mechanism.The present invention mainly comprises lifting device, swings device, front-back buffer, left and right buffer unit, claw beam and frame.Described lifting device comprises: claw beam, front support rod, a pair front overhang peg, a pair front lift arm, a pair synchronizing bar, a pair rear lift arm, rear slide bar, pitching linear actuator and a pair lifting linear actuator; The described device that swings comprises: a pair front left and right linear actuator, a pair rear left and right linear actuator; Described front-back buffer comprises: cushion linear actuator before and after a pair and coordinate bar; Lift arm before and after described a pair, a pair lifting linear actuator, a pair front overhang peg, cushion linear actuator before and after a pair and a pair synchronizing bar is all symmetrically arranged.
Wherein: claw beam front portion is connected with front support rod by moving sets, these front support rod two ends are connected with a pair front overhang peg lower end respectively by ball pivot, this a pair front overhang peg upper end is connected with one end of a pair front lift arm respectively by ball pivot, the other end of this pair front lift arm is connected with one end of a pair synchronizing bar respectively by ball pivot, the other end of this pair synchronizing bar is connected with lift arm top after a pair respectively by ball pivot, before above-mentioned a pair, the turning joint that rear lift arm is arranged respectively by axis left and right horizontal direction is connected with frame, 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 lifting linear actuator upper end is connected with lift arm bottom after above-mentioned a pair respectively by ball pivot, this a pair lifting linear actuator lower end is connected with frame respectively by ball pivot, one position of a pair front left and right linear actuator stiff end and above-mentioned claw beam is connected, and these a pair front left and right linear actuator two ends is tache motorice, withstands on the inwall of frame both sides respectively, after a pair, left and right linear actuator stiff end is connected in rear lift arm both sides respectively, and after this pair, linear actuator two ends, left and right are tache motorice, withstand on the two ends of rear slide bar respectively.The one end cushioning linear actuator before and after a pair is connected with in the middle part of above-mentioned claw beam respectively by ball pivot, and its other end is connected with coordination bar two ends respectively by ball pivot, and the turning joint that this coordination bar axes normal direction is arranged is connected in frame.
Described lifting linear actuator also has a kind of connected mode: a pair lifting linear actuator upper end is connected with a pair front lift arm bottom respectively by ball pivot, and this pair lifting linear actuator lower end is connected with frame respectively by ball pivot.
Elevating movement process of the present invention is implemented by two kinds of methods: one, and a pair 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, after a pair lifting linear actuator promotes, lift arm drives rear slide bar, thus makes the pitching linear actuator of the former length of maintenance drive claw beam rear portion to move up and down; Simultaneously, lift arm is by drive two synchronizing bars and then promotion front lift arm, thus drives two front overhang pegs and front support rod that claw beam front portion is moved up and down, to realize the synchronization lifting motion of claw beam.Its two, a pair lifting linear actuator upper end be connected with 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 front lift arm motion, thus drive two front overhang pegs and front support rod, and claw beam front portion is moved up and down; Front lift arm is by slide bar after lift arm drive after drive two synchronizing bars and then promotion simultaneously, thus makes to keep the pitching cylinder of former length to drive claw beam rear portion to move up and down, and moves with the synchronization lifting realizing claw beam.
Elevating movement process, pitching linear actuator promotes claw beam rear portion, thus drives claw beam to do elevating movement.Sidesway and side-sway motion are completed by left and right linear actuator after two front left and right linear actuators and two.Front left and right linear actuator promotes claw beam front portion and drives claw beam to realize transverse movement; After two, after the promotion of left and right linear actuator, slide bar moves, and drives the pitching linear actuator keeping former length, drives claw beam to realize transverse movement from claw beam rear portion.When two forward and backward left and right linear actuator driving directions are consistent and size is identical, claw beam realizes lateral translational movement; When current, rear left and right linear actuator driving direction is contrary or drive volume is different, claw beam realizes side-sway motion.At cart Acceleration of starting, stop and slow down and in forging process for fuel process, by the stretching motion of front and back buffering linear actuator, realize the kicking motion that claw beam adapts to front and back sudden change external force.
The present invention compared with prior art tool has the following advantages:
1, this manipulator front overhang peg is directly connected with lift arm by ball pivot, compact conformation, and integral rigidity is large;
2, front-back buffer is directly connected in the middle part of claw beam, improves the response speed of buffering, is suitable for the forging operation of large-scale/ultra-large type forging.
Accompanying drawing explanation
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
Detailed description of the invention
Embodiment 1
Move in linear actuator underneath type forging manipulator lifting mechanism simplified schematic diagram in a kind of front side shown in Fig. 1, claw beam 10 front end is connected with front support rod 8 by moving sets, these front support rod two ends are connected with a pair front overhang peg 7 lower end respectively by ball pivot, this a pair front overhang peg upper end is connected with the one end mentioning front lift arm 6 respectively by ball pivot, this a pair front lift arm other end is connected respectively by ball pivot one end with a pair synchronizing bar 4, the other end of this pair synchronizing bar is connected with lift arm 1 top after a pair by ball pivot, before above-mentioned a pair, 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 end is connected in rear slide bar 2 center, its lower end is connected with above-mentioned claw beam rear end by ball pivot, a pair lifting linear actuator 13 upper end is connected with lift arm bottom after above-mentioned a pair respectively by ball pivot, this a pair lifting linear actuator lower end is connected with frame respectively by ball pivot, one position of a pair front left and right linear actuator 9 stiff end and above-mentioned claw beam is connected, and its tache motorice withstands on the inwall of frame both sides respectively, after a pair, left and right linear actuator 3 stiff end is connected in rear lift arm both sides respectively, and its tache motorice withstands on the two ends of rear slide bar respectively, the one end cushioning linear actuator 12 before and after a pair is connected with in the middle part of above-mentioned claw beam respectively by ball pivot, and its other end is connected with coordination bar 14 two ends respectively by ball pivot, and the turning joint that this coordination bar axes normal direction is arranged is connected in frame.
Embodiment 2
Move in linear actuator underneath type forging manipulator lifting mechanism simplified schematic diagram in a kind of front side shown in Fig. 2, pitching linear actuator 11 upper end is connected in rear slide bar 2 center, its lower end is connected with claw beam 10 rear portion by ball pivot, lifting linear actuator 13 upper end is connected with front lift arm 6 bottom by ball pivot, and its lower end is connected with frame 5 by ball pivot.All the other rod members and annexation identical with 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.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN103381465A CN103381465A (en) | 2013-11-06 |
| CN103381465B true CN103381465B (en) | 2015-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
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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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Family Cites Families (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 |
| CN101791674B (en) * | 2010-03-26 | 2011-09-14 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN102019340B (en) * | 2010-11-15 | 2012-09-05 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN102921871B (en) * | 2012-10-30 | 2015-04-08 | 燕山大学 | Multi-suspension-rod combined forging manipulator |
| CN102921867B (en) * | 2012-10-30 | 2014-11-12 | 燕山大学 | Forging manipulator |
| CN202894191U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Less coupling motor type forging manipulator |
| CN102935480B (en) * | 2012-10-30 | 2014-12-10 | 燕山大学 | Little kinematic coupling type six-degree-of-freedom forging manipulator |
| CN202963351U (en) * | 2012-10-30 | 2013-06-05 | 燕山大学 | Componental movement decoupling type forging manipulator |
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- 2013-07-01 CN CN201310273481.9A patent/CN103381465B/en not_active Expired - Fee Related
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| CN103381465A (en) | 2013-11-06 |
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