CN103537605B - Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers - Google Patents
Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers Download PDFInfo
- Publication number
- CN103537605B CN103537605B CN201310436442.6A CN201310436442A CN103537605B CN 103537605 B CN103537605 B CN 103537605B CN 201310436442 A CN201310436442 A CN 201310436442A CN 103537605 B CN103537605 B CN 103537605B
- Authority
- CN
- China
- Prior art keywords
- pair
- linear actuator
- ball pivot
- linear driver
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
Provided is a parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers. The front end of a nippling lever is connected with a front sliding rod, the two ends of the front sliding rod are hinged to the lower ends of front suspension rods, the upper ends of the front suspension rods are hinged to the cross beams of front lifting arms, and a synchronizing rod is hinged to the upper portions of the front lifting arms and the upper portion of a rear lifting arm. The fixed end of a rear left linear driver and the fixed end of a rear right linear driver are fixedly connected on the two sides of the rear lifting arm, and the movable end of the rear left linear driver and the movable end of the rear right linear driver abut against the two ends of a rear sliding rod. The front lifting arms and the rear lifting arm are connected with a rack. The upper end of the left pitching linear driver is hinged to the left side of the rear sliding rod, and the lower end of the left pitching linear driver is hinged to the left end of the rear supporting rod of the nippling lever. The upper end of the right pitching linear driver is hinged to the right side of the rear sliding rod. The upper ends of lifting linear drivers are hinged to the lower portions of the front lifting arms, and the lower ends of the lifting linear drivers are hinged to the rack. The front end of a front buffering linear driver and the front end of a rear buffering linear driver are hinged to the middle portions of the front suspension rods, and the rear end of the front buffering linear driver and the rear end of the rear buffering linear driver are hinged to the middle of the nippling lever. The fixed end of a front left linear driver and the fixed end of a front right linear driver are fixedly connected with the nippling lever, and the movable end of the front left linear driver and the movable end of the front right linear driver abut against the inner wall of the rack. The parallel connecting rod type forging manipulator lifting mechanism is strong in clamping capacity, simple in structure, smooth in ascending and descending and large in bearing capacity.
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 the important auxiliary equipment of free-forging hydraulic group, is also that the major mechanical that the career developments such as national heavy industry, nuclear power, Aero-Space and wind energy are badly in need of one of is equipped.If complete a whole set of forging process, forging manipulator seven the forging operation functions such as jaw clamping, claw beam rotation, claw beam lifting, claw beam pitching, claw beam are traversing, claw beam swing, large vehicle walking that need realization to comprise.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, rocking lever formula mechanism.Wherein the mobile decoupling of parallel link forging manipulator is higher, be easy to control, but most of parallel link forging manipulator is only containing single pitching hydraulic cylinder, as German patent DE 20108277, Chinese patents 201010543863.5,201010133714.1,201210421383.0 etc., the manipulator holding capability of this structure is not very large.And in Chinese patent 201010193620.3 and 201210182110.5, although containing two pitching hydraulic cylinders, but pitching hydraulic cylinder or be placed in the middle of synchronizing bar or be directly connected with frame, in lifting process, stressed size variation scope comparatively greatly, easily makes the depth of parallelism of lifting reduce.
Summary of the invention
The object of the present invention is to provide that a kind of structure is simple, holding capability is strong, lifting is stably containing two pitching linear actuator parallel link forging manipulator lifting mechanisms.The present invention mainly comprises lifting device, swings device, front-back buffer, claw beam and frame.Described lifting device comprises claw beam, front slide bar, a pair front overhang peg, front lift arm, a pair synchronizing bar, rear lift arm, rear slide bar, left pitching linear actuator, right pitching linear actuator and is elevated linear actuator a pair; The described device that swings comprises a pair front left and right linear actuator and a pair rear left and right linear actuator; Described front-back buffer cushions linear actuator before and after comprising a pair; Described 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 end is connected with front slide bar by moving sets, these front slide bar two ends are connected with a pair front overhang peg lower end respectively by ball pivot, this front overhang peg upper end is connected with the crossbeam of a pair front lift arm by ball pivot, this front lift arm top is connected with synchronizing bar front end by ball pivot, this synchronizing bar rear end is connected with rear lift arm top by ball pivot, and after a pair, left and right linear actuator stiff end is connected in above-mentioned rear lift arm both sides respectively, and its tache motorice withstands on the two ends of rear slide bar respectively; Above-mentioned forward and backward lift arm is connected with frame with the turning joint that axis left and right horizontal direction is arranged respectively; Left pitching linear actuator upper end is connected with on the left of above-mentioned rear slide bar by ball pivot, and its lower end is connected with claw beam back stay left end by ball pivot; The turning joint that right pitching linear actuator upper end is arranged by axis left and right horizontal direction is connected with on the right side of above-mentioned rear slide bar, and its lower end is connected with claw beam back stay right-hand member by ball pivot; A pair lifting linear actuator upper end is connected with above-mentioned front lift arm bottom respectively by ball pivot, and its lower end is connected with frame by ball pivot; Cushion linear actuator front end before and after a pair to be connected with in the middle part of above-mentioned a pair front overhang peg by ball pivot, its rear end is connected with claw beam mid link by ball pivot; A pair front left and right linear actuator stiff end and claw beam are connected, and its tache motorice withstands on the inwall of frame both sides respectively.
Each action of forging operation is respectively by each device complete independently of this forging manipulator lifting mechanism.During elevating movement, a pair lifting linear actuator promotes front lift arm, drives a pair front overhang peg to be synchronized with the movement up and down; Lift arm after simultaneously being promoted by a pair synchronizing bar, slide bar after rear lift arm drives, thus drive two asymmetrical pitching linear actuators of structure to be synchronized with the movement up and down, and then drive claw beam to do synchronization lifting motion.During elevating movement, two asymmetrical pitching linear actuators of structure are synchronized with the movement and directly promote claw beam rear portion and make it do elevating movement.Traversing and oscillating motion completes by swinging device, a pair front left and right linear actuator promotes claw beam front portion and drives claw beam to realize transverse movement, after a pair, left and right linear actuator promotes rear slide bar, rear slide bar drives two asymmetrical pitching linear actuators of structure, drives claw beam to realize transverse movement from claw beam rear portion.Current, rear left and right linear actuator driving direction is consistent and size is identical time, claw beam realizes transverse motion; When current, rear left and right linear actuator driving direction is contrary or drive volume is different, claw beam realizes oscillating motion.In cart Acceleration of starting, decelerating phase and the forging process for fuel process of stopping, by cushioning the passive stretching motion of linear actuator before and after a pair, 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. the pitching linear actuator that two structures are different is directly connected with claw beam afterbody, improves the holding capability of manipulator;
2. a pair front overhang peg is directly hinged with front lift arm, and structure is simple, and lifting is steady, improves the integral rigidity of manipulator, is applicable to the forging operation of large-scale/ultra-large type forging.
Accompanying drawing explanation
Fig. 1 is stereochemical structure simplified schematic diagram of the present invention.
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 slide bar 9, front left and right linear actuator 10, claw beam 11, front and back buffering linear actuator 12, lifting linear actuator 13, left pitching linear actuator 14, claw beam back stay 15, right pitching linear actuator
Detailed description of the invention
Shown in Fig. 1 containing in two pitching linear actuator parallel link forging manipulator lifting mechanism simplified schematic diagram, claw beam 10 front end is connected with front slide bar 8 by moving sets, these front slide bar two ends are connected with a pair front overhang peg 7 lower end respectively by ball pivot, this front overhang peg upper end is connected by the crossbeam of ball pivot with a pair front lift arm 6, this front lift arm top is connected with synchronizing bar 4 front end by ball pivot, this synchronizing bar rear end is connected with rear lift arm 1 top by ball pivot, after a pair, left and right linear actuator 3 stiff end is connected in above-mentioned rear lift arm both sides respectively, its tache motorice withstands on the two ends of rear slide bar 2 respectively, above-mentioned forward and backward lift arm is connected with frame 5 with the turning joint that axis left and right horizontal direction is arranged respectively, left pitching linear actuator 13 upper end is connected with on the left of above-mentioned rear slide bar by ball pivot, and its lower end is connected with claw beam back stay 14 left end by ball pivot, the turning joint that right pitching linear actuator 15 upper end is arranged by axis left and right horizontal direction is connected with on the right side of above-mentioned rear slide bar, and its lower end is connected with claw beam back stay right-hand member by ball pivot, a pair lifting linear actuator 12 upper end is connected with above-mentioned front lift arm bottom by ball pivot, and its lower end is connected with frame by ball pivot, cushion linear actuator 11 front end before and after a pair to be connected with in the middle part of above-mentioned a pair front overhang peg by ball pivot, its rear end is connected with in the middle part of claw beam by ball pivot, a pair front left and right linear actuator 9 stiff end and claw beam are connected, and its tache motorice withstands on the inwall of frame both sides respectively.
Claims (2)
1. one kind contains two pitching linear actuator parallel link forging manipulator lifting mechanisms, it mainly comprises lifting device, swing device, front-back buffer, claw beam and frame, it is characterized in that: claw beam front end is connected with front slide bar by moving sets, these front slide bar two ends are connected with a lower end in a pair front overhang peg respectively by ball pivot, this front overhang peg upper end is connected with the crossbeam of a pair front lift arm by ball pivot, this front lift arm top is connected with synchronizing bar front end by ball pivot, this synchronizing bar rear end is connected with rear lift arm top by ball pivot, after a pair, left and right linear actuator stiff end is connected in above-mentioned rear lift arm both sides respectively, its tache motorice withstands on the two ends of rear slide bar respectively, above-mentioned forward and backward lift arm is connected with frame with axis turning joint in horizontal direction respectively, left pitching linear actuator upper end is connected with on the left of above-mentioned rear slide bar by ball pivot, and its lower end is connected with claw beam back stay left end by ball pivot, the turning joint that right pitching linear actuator upper end is arranged by axis horizontal direction is connected with on the right side of above-mentioned rear slide bar, and its lower end is connected with claw beam back stay right-hand member by ball pivot, a pair lifting linear actuator upper end is connected with above-mentioned front lift arm bottom by ball pivot, and its lower end is connected with frame by ball pivot, cushion linear actuator front end before and after a pair to be connected with in the middle part of above-mentioned a pair front overhang peg by ball pivot, its rear end is connected with in the middle part of claw beam by ball pivot, a pair front left and right linear actuator stiff end and claw beam are connected, and its tache motorice withstands on the inwall of frame both sides respectively.
2. the one according to claims 1 containing two pitching linear actuator parallel link forging manipulator lifting mechanisms, is characterized in that: a pair described 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436442.6A CN103537605B (en) | 2013-09-23 | 2013-09-23 | Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310436442.6A CN103537605B (en) | 2013-09-23 | 2013-09-23 | Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103537605A CN103537605A (en) | 2014-01-29 |
| CN103537605B true CN103537605B (en) | 2015-07-22 |
Family
ID=49961678
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310436442.6A Expired - Fee Related CN103537605B (en) | 2013-09-23 | 2013-09-23 | Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103537605B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108213307B (en) * | 2016-12-09 | 2020-05-08 | 淮阴工学院 | Lifting mechanism of buffer device centralized forging manipulator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| EP2397244A1 (en) * | 2010-06-15 | 2011-12-21 | Brighton Equipment Corporation Limited | Charging device for a bush widening device for perforated socket blanks made out of steel, for example, and method of forging perforated socket blanks |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN103056266A (en) * | 2012-12-06 | 2013-04-24 | 燕山大学 | Parallel rod type forging manipulator lifting mechanism with slantly-arranged pitching linear actuator |
| CN202894180U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Double lifting drive forging manipulator |
-
2013
- 2013-09-23 CN CN201310436442.6A patent/CN103537605B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| EP2397244A1 (en) * | 2010-06-15 | 2011-12-21 | Brighton Equipment Corporation Limited | Charging device for a bush widening device for perforated socket blanks made out of steel, for example, and method of forging perforated socket blanks |
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN202894180U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Double lifting drive forging manipulator |
| CN103056266A (en) * | 2012-12-06 | 2013-04-24 | 燕山大学 | Parallel rod type forging manipulator lifting mechanism with slantly-arranged pitching linear actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103537605A (en) | 2014-01-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102728764A (en) | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator | |
| CN101791674B (en) | Lifting mechanism of forging manipulator | |
| CN101607296B (en) | Upper connecting rod forward-only connecting type forging manipulator | |
| CN101879571B (en) | Forging manipulator lifting mechanism with inclined rear suspension rods | |
| CN101279353B (en) | Equidirectional type six-freedom-degree manipulator for forging | |
| CN103381466B (en) | Parallel connecting rod type forging manipulator with down lateral-movement linear driver | |
| CN102019340A (en) | Claw beam lifting mechanism for forging manipulator | |
| CN102921867B (en) | Forging manipulator | |
| CN103056266B (en) | Parallel rod type forging manipulator lifting mechanism with slantly-arranged pitching linear actuator | |
| CN102303089A (en) | Forging manipulator | |
| CN103537605B (en) | Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers | |
| CN202155463U (en) | Lifting mechanism of forging operation machine with little coupling movement | |
| CN103894533B (en) | A kind of full decoupled formula forging manipulator lifting mechanism | |
| CN102728763A (en) | Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator | |
| CN103706748B (en) | A kind of pitching linear actuator asymmetric forging manipulator lifting mechanism | |
| CN104289653B (en) | Main movement mechanism of redundant drive forging operation machine | |
| CN103157741B (en) | Dual-drive straight-line lifting forging manipulator | |
| CN104014706B (en) | A kind of large-tonnage trackless forging manipulator lifting mechanism | |
| CN206509466U (en) | Lifting mechanism of buffer device centralized forging manipulator | |
| CN103381465B (en) | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators | |
| CN103909198B (en) | A kind of large-sized forging manipulator mechanism | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN203091650U (en) | Double-drive forging manipulator achieving straight-line lifting | |
| CN102935482B (en) | Synchronous connecting rod forwardly-connected forging manipulator | |
| CN103381464A (en) | Parallel rod type lifting mechanism for forging manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150722 Termination date: 20190923 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |