CN103537598B - Forging manipulator with optimized deflector - Google Patents
Forging manipulator with optimized deflector Download PDFInfo
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- CN103537598B CN103537598B CN201310436451.5A CN201310436451A CN103537598B CN 103537598 B CN103537598 B CN 103537598B CN 201310436451 A CN201310436451 A CN 201310436451A CN 103537598 B CN103537598 B CN 103537598B
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- linear actuator
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Abstract
The invention provides a forging manipulator with an optimized deflector. A pair of tongs is hinged to a tong rod, wherein the tong rod is hinged to a connecting piece, a pitching linear driver is hinged to the tong rod and a rear sliding rod, a rear left-and-right linear driver is fixedly connected with the rear sliding rod and a rear lifting arm, the rear lifting arm is connected with a rack and a synchronous pitching linear driver, and the synchronous pitching linear driver is hinged to a front lifting arm; the connecting piece is hinged to a front hanging rod, wherein the front hanging rod is hinged to a front sliding rod and a front-and-back linear driver, a front left-and-right linear driver is fixedly connected with the front sliding rod and the front lifting arm, the front lifting arm is hinged to the rack and a lifting linear driver, and the lifting linear driver is hinged to the rack. According to the forging manipulator, the deflector is optimized, so that bearing capacity is improved, the overall structure is simplified, cost is reduced, and economic benefit is improved.
Description
Technical field the present invention relates to a kind of forging manipulator.
Background technology forging manipulator is one of additional processing equipment in forging pressure weight equipment, is the necessaries improving forging and stamping production efficiency and forging quality.Retrieval is found, publication number is that the Chinese patent of CN102019340A discloses a kind of claw beam lifting mechanism for forging manipulator, its arrangement for deflecting adopts space 4S mechanism, by four ball pivots of two front overhang pegs, its clamp is made to do yaw motion, but the bearing capacity of ball pivot is relatively poor, the bearing capacity that impact is overall.Publication number is a kind of multifunctional hydraulic forging manipulator disclosed in CN102430684U, its complete machine all uses revolute pair, improves integrated carrying ability, but complete machine does not exist the offset movement of clamp, the instantaneous impulse force in this direction can not be cushioned in forging process, affect the quality of forging.Publication number is that the Chinese patent of CN1745937A discloses a kind of six-dimensional parallel forging operator, and it can meet the requirement of six degree of freedom, but complex structure, not easily manufacture and install.
The forging manipulator that summary of the invention the object of the present invention is to provide that a kind of bearing capacity is high, structure is simple, have the optimization arrangement for deflecting of six degree of freedom.The present invention mainly comprises clamp rotation device, lifting device, elevation mount, front-back buffer and deflection offset assembly.Described clamp rotation device comprises: claw beam and clamp; Described lifting device comprises: front lift arm, rear lift arm, a pair front overhang peg, a pair lifting linear actuator; Described elevation mount comprises: pitching linear actuator; Described front-back buffer comprises: a pair tandem driver; Described deflection offset assembly comprises: a pair front left and right linear actuator, a pair rear left and right linear actuator, connector.
Clamp rear end is connected with claw beam front end by turning joint, this claw beam rear end is connected by ball pivot one end with pitching linear actuator, the other end of this pitching linear actuator is connected with rear slide bar by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair rear left and right linear actuator respectively, after this pair, one end of rear lift arm connects firmly the other end of left and right linear actuator with a pair respectively, and after this pair, the other end of lift arm is by turning joint frame connection respectively; After above-mentioned a pair, a position of lift arm is connected with one end of a pair synchronising (connecting) rod respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected with a position of a pair front lift arm respectively by turning joint, another position of this pair front lift arm is elevated linear actuator respectively respectively by turning joint one end with a pair is connected, and the other end of this pair lifting linear actuator is connected with frame respectively by turning joint; One position of above-mentioned claw beam is connected with in the middle part of connector by turning joint, the two ends of this connector are connected with a pair front overhang peg one end respectively by turning joint, the other end of this pair front overhang peg is connected with front slide bar respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair front left and right linear actuator respectively, the other end of this pair front left and right linear actuator connects firmly with one end of above-mentioned a pair front lift arm respectively, and the other end of this pair front lift arm is connected with frame respectively by turning joint; A position in the middle part of above-mentioned a pair front overhang peg is connected respectively by ball pivot one end with a pair tandem driver, and the other end of this pair tandem driver is connected with frame respectively by ball pivot.
The elevating movement process of forging manipulator of the present invention: lifting linear actuator promotes front lift arm, by synchronising (connecting) rod, after driving, lift arm is around gantry rotation, thus drives claw beam to move up and down by front overhang peg and pitching linear actuator.Seesaw process: a pair tandem driver promotes a pair front overhang peg, drives claw beam and clamp to seesaw.Elevating movement process: pitching linear actuator claw beam rear end moves up and down, thus drive claw beam to do and face upward motion of bowing up and down.Deflection and offset movement process: before front left and right linear actuator promotes, slide bar moves, after rear left and right linear actuator promotes, slide bar moves, thus drives claw beam to realize transverse movement; When front left and right linear actuator is fixed, slide bar after rear left and right linear actuator drives, drives claw beam to rotate around connector and claw beam hinged place by pitching linear actuator, realizes claw beam oscillating motion.Clamp rotary course: make it rotate around rear end hinge axes by driving clamp rear end.
The present invention compared with prior art tool has the following advantages:
1, front overhang peg of the present invention is all connected with revolute pair with claw beam, and can realize clamp yaw motion, not only increases bearing capacity, and optimizes offset assembly.
2, the present invention can realize six working motions of forging manipulator, effectively can cushion the instantaneous impulse force of all directions in forging process, improves forging quality.
3, the less and simple shape of parts of the present invention, thus reduce costs, increase economic efficiency.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the embodiment of the present invention.
In figure: 1-clamp, 2-connector, 3-claw beam, 4-are elevated linear actuator, 5-pitching linear actuator, 6-tandem driver, 7-synchronising (connecting) rod, 8-frame, slide bar, 15-front overhang peg before left and right linear actuator, 12-front lift arm, 13-front left and right linear actuator, 14-after slide bar, 11-after lift arm, 10-after 9-.
Detailed description of the invention:
Optimize in the simplified schematic diagram of the forging manipulator of arrangement for deflecting a kind of shown in Fig. 1, clamp 1 rear end is connected with claw beam 3 front end by turning joint, this claw beam rear end is connected by ball pivot one end with pitching linear actuator 5, the other end of this pitching linear actuator is connected with rear slide bar 10 by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair rear left and right linear actuator 11 respectively, after this pair, one end of rear lift arm 9 connects firmly the other end of left and right linear actuator with a pair respectively, after this pair lift arm the other end by turning joint respectively frame 8 connect, after above-mentioned a pair, a position of lift arm is connected with one end of a pair synchronising (connecting) rod 7 respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected with a position of a pair front lift arm 12 respectively by turning joint, another position of this pair front lift arm is elevated linear actuator 4 respectively respectively by turning joint one end with a pair is connected, and the other end of this pair lifting linear actuator is connected with frame respectively by turning joint, one position of above-mentioned claw beam is connected with in the middle part of connector 2 by turning joint, the two ends of this connector are connected with a pair front overhang peg 15 one end respectively by turning joint, the other end of this pair front overhang peg is connected with front slide bar 14 respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair front left and right linear actuator 13 respectively, the other end of this pair front left and right linear actuator connects firmly with one end of above-mentioned a pair front lift arm respectively, and the other end of this pair front lift arm is connected with frame respectively by turning joint, a position in the middle part of above-mentioned a pair front overhang peg is connected respectively by ball pivot one end with a pair tandem driver 6, and the other end of this pair tandem driver is connected with frame respectively by ball pivot.
Claims (1)
1. optimize the forging manipulator of arrangement for deflecting for one kind, it is characterized in that: clamp rear end is connected with claw beam front end by turning joint, this claw beam rear end is connected by ball pivot one end with pitching linear actuator, the other end of this pitching linear actuator is connected with rear slide bar by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair rear left and right linear actuator respectively, after this pair, one end of rear lift arm connects firmly the other end of left and right linear actuator with a pair respectively, and after this pair, the other end of lift arm is connected with frame respectively by turning joint; After above-mentioned a pair, a position of lift arm is connected with one end of a pair synchronising (connecting) rod respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected with a position of a pair front lift arm respectively by turning joint, another position of this pair front lift arm is elevated linear actuator respectively respectively by turning joint one end with a pair is connected, and the other end of this pair lifting linear actuator is connected with frame respectively by turning joint; One position of above-mentioned claw beam is connected with in the middle part of connector by turning joint, the two ends of this connector are connected with a pair front overhang peg one end respectively by turning joint, the other end of this pair front overhang peg is connected with front slide bar respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair front left and right linear actuator respectively, the other end of this pair front left and right linear actuator connects firmly with one end of above-mentioned a pair front lift arm respectively, and the other end of this pair front lift arm is connected with frame respectively by turning joint; A position in the middle part of above-mentioned a pair front overhang peg is connected respectively by ball pivot one end with a pair tandem driver, and the other end of this pair tandem driver is connected with frame respectively by ball pivot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436451.5A CN103537598B (en) | 2013-09-23 | 2013-09-23 | Forging manipulator with optimized deflector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436451.5A CN103537598B (en) | 2013-09-23 | 2013-09-23 | Forging manipulator with optimized deflector |
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| Publication Number | Publication Date |
|---|---|
| CN103537598A CN103537598A (en) | 2014-01-29 |
| CN103537598B true CN103537598B (en) | 2015-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310436451.5A Expired - Fee Related CN103537598B (en) | 2013-09-23 | 2013-09-23 | Forging manipulator with optimized deflector |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104209440B (en) * | 2014-08-20 | 2016-03-02 | 燕山大学 | A kind of forging manipulator optimizing deflection mechanism |
| CN104325062B (en) * | 2014-10-17 | 2016-05-04 | 燕山大学 | A kind of pitching linear actuator junctor posture forging manipulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschbau | Blacksmith manipulator |
| CN102935481A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Suspension type forging manipulator of lifting mechanism |
| CN202894178U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator of six degrees of freedom |
| CN103157741A (en) * | 2013-03-06 | 2013-06-19 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
-
2013
- 2013-09-23 CN CN201310436451.5A patent/CN103537598B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20108277U1 (en) * | 2001-05-17 | 2001-08-02 | Dango & Dienenthal Maschbau | Blacksmith manipulator |
| CN102935481A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Suspension type forging manipulator of lifting mechanism |
| CN202894178U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator of six degrees of freedom |
| CN103157741A (en) * | 2013-03-06 | 2013-06-19 | 燕山大学 | Dual-drive straight-line lifting forging manipulator |
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| CN103537598A (en) | 2014-01-29 |
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