CN103537605B - Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers - Google Patents

Abstract

The hoisting mechanism of the forging manipulator with parallel link type forging manipulator consists of two pitching linear drives. The front end of the clamp rod is connected with the front sliding rod. The rod is hinged with the upper part of the front lifting arm and the upper part of the rear lifting arm; the fixed end of the rear left and right linear actuators is fixedly connected to both sides of the rear lifting arm, and its moving end is against the two ends of the rear sliding rod; the front and rear lifting arms are connected to the frame; The upper end of the pitching linear drive is hinged to the left side of the rear slide bar, and its lower end is hinged to the left end of the rear support rod of the clamp rod; the upper end of the right pitching linear drive is connected to the right side of the rear slide bar; the upper end of the lifting linear drive is hinged to the lower part of the front lifting arm, and its lower end is The frame is hinged; the front end of the front and rear buffer linear drives is hinged to the middle of the front suspension rod, and its rear end is hinged to the middle of the clamp rod; the fixed ends of the front left and right linear drives are fixedly connected to the clamp rod, and their moving ends are pushed against the inner wall of the frame. The invention has strong clamping capacity, simple structure, stable lifting and large bearing capacity.

Description

Contains two pitch linear drives parallel link type forging manipulator lifting mechanism

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 an important auxiliary equipment for the free forging hydraulic unit, and it is also one of the major mechanical equipment that is urgently needed for the development of national heavy industry, nuclear power, aerospace and wind energy. If a complete set of forging process is completed, the forging manipulator needs to realize seven forging operation functions including jaw clamping, tong bar rotation, tong bar lifting, tong bar pitching, tong bar lateral movement, tong bar swing, 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 swing lever mechanism. Among them, the parallel link type forging manipulator has high motion decoupling and is easy to control, but most of the parallel link type forging manipulators only contain a single pitching hydraulic cylinder, such as German patent DE20108277, Chinese patents 201010543863.5, 201010133714.1, 201210421383.0, etc. The manipulator clamping capacity of this structure is not very great. In Chinese patents 201010193620.3 and 201210182110.5, although there are two pitching hydraulic cylinders, the pitching hydraulic cylinders are either placed in the middle of the synchronous rod or directly connected to the frame. reduce.

Contents of the invention

The object of the present invention is to provide a lifting mechanism of a parallel link type forging manipulator with two pitch linear drives, simple structure, strong clamping capacity and stable lifting. The invention mainly includes a lifting device, a swinging device, a front and rear buffer device, a clamp bar and a frame. The lifting device includes a clamp rod, a front sliding rod, a pair of front suspension rods, a front lifting arm, a pair of synchronous rods, a rear lifting arm, a rear sliding rod, a left pitching linear drive, a right pitching linear drive and a pair of lifting linear drives. driver; the swing device includes a pair of front and rear left and right linear drivers and 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; the pair of lifting linear drivers, a pair of front suspension rods , a pair of front and rear buffer linear drives and a pair of synchronous rods are symmetrically arranged left and right.

Wherein, the front end of the clamp rod is connected with the front sliding rod through a moving pair, the two ends of the front sliding rod are respectively connected with the lower ends of a pair of front suspension rods through ball joints, and the upper ends of the front suspension rods are connected with the beams of a pair of front lifting arms through ball joints , the upper part of the front lifting arm is connected to the front end of the synchronizing rod through a ball joint, the rear end of the synchronizing rod is connected to the upper part of the rear lifting arm through a ball joint, and the fixed ends of a pair of rear left and right linear drives are fixedly connected to both sides of the rear lifting arm respectively. The moving ends are pushed against the two ends of the rear sliding rod respectively; the above-mentioned front and rear lifting arms are respectively connected to the frame by the rotating hinges arranged in the horizontal direction of the axis; the upper end of the left pitch linear drive is connected to the left side of the above-mentioned rear sliding rod through a ball joint, Its lower end is connected to the left end of the rear support rod of the clamp rod through a ball hinge; the upper end of the right pitch linear drive is connected to the right side of the above-mentioned rear sliding rod through a rotating hinge arranged in the left and right horizontal directions of the axis, and its lower end is connected to the right end of the rear support rod of the clamp rod through a ball hinge The upper ends of a pair of lifting linear drives are respectively connected to the lower part of the above-mentioned front lifting arms through ball joints, and the lower ends are connected to the frame through ball joints; The rear end is connected to the connecting rod in the middle of the tong bar through a ball joint; the fixed ends of a pair of front left and right linear drivers are fixedly connected to the tong bar, and their moving ends are respectively supported on the inner walls on both sides of the frame.

Each action of the forging operation is independently completed by each device of the lifting mechanism of the forging manipulator. During the lifting movement, a pair of lifting linear actuators push the front lifting arm, driving a pair of front suspension rods to move up and down synchronously; at the same time, a pair of synchronous rods push the rear lifting arm, and the rear lifting arm drives the rear sliding rod, thus driving the two non-structural The symmetrical pitching linear drive makes synchronous movement up and down, and then drives the clamp rod to make synchronous lifting movement. During the pitching motion, the synchronous motion of two pitching linear actuators with asymmetric structure directly pushes the rear part of the clamp rod to make it pitching. The lateral movement and swing movement are completed by the swing device. A pair of front left and right linear drivers push the front of the tong bar to drive the tong bar to achieve lateral movement, and a pair of rear left and right linear drivers push the rear slider, which drives the two asymmetrical structures. The pitching linear drive drives the tong bar from the rear of the tong bar to achieve lateral movement. When the driving directions of the front and rear left and right linear drivers are the same and the size is the same, the pliers rod realizes a 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 a swinging motion. During the start-up acceleration, stop-down deceleration stages and forging process of forging parts, through the passive telescopic movement of a pair of 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. Two pitching linear drives with different structures are directly connected to the tail of the tong rod, which improves the clamping ability of the manipulator;

2. A pair of front suspension rods are directly hinged with the front lifting arm, the structure is simple, the lifting is stable, and the overall rigidity of the manipulator is improved, which is suitable for the forging operation of large/ultra-large forgings.

Description of drawings

Fig. 1 is a schematic diagram of the three-dimensional structure of the present invention.

In the figure: 1, rear lift arm 2, rear slide bar 3, rear left and right linear drive 4, synchronization bar 5, frame 6, front lift arm 7, front suspension bar 8, front slide bar 9, front left and right linear drive 10, Clamp rod 11, front and rear buffer linear driver 12, lifting linear driver 13, left pitch linear driver 14, clamp rod rear support rod 15, right pitch linear driver

Detailed ways

In the schematic diagram of the hoisting mechanism of the parallel link type forging manipulator with two pitching linear drives shown in Figure 1, the front end of the tong rod 10 is connected to the front sliding rod 8 through a moving pair, and the two ends of the front sliding rod are respectively connected through ball joints. It is connected with the lower ends of a pair of front suspension rods 7, and the upper ends of the front suspension rods are connected with the crossbeams of a pair of front lifting arms 6 through ball joints. The ball joint is connected to the upper part of the rear lifting arm 1, and the fixed ends of a pair of rear left and right linear actuators 3 are respectively fixedly connected to both sides of the above-mentioned rear lifting arm, and their moving ends are respectively pushed against the two ends of the rear sliding rod 2; the above-mentioned front and rear lifting arms The rotary hinges arranged in the left and right horizontal directions of the axis are respectively connected with the frame 5; the upper end of the left pitch linear driver 13 is connected with the left side of the above-mentioned rear slide bar through a ball joint, and its lower end is connected with the left end of the rear support rod 14 of the clamp rod through a ball joint; The upper end of the pitching linear actuator 15 is connected to the right side of the above-mentioned rear slide bar through the rotary hinge arranged in the left and right horizontal direction of the axis, and its lower end is connected to the right end of the rear support rod of the clamp rod through a ball hinge; The lower part of the lifting arm is connected, and its lower end is connected with the frame through a ball joint; the front end of a pair of front and rear buffer linear drives 11 is connected with the middle part of the pair of front suspension rods through a ball joint, and the rear end is connected with the middle part of the clamp rod through a ball joint; The fixed ends of the front left and right linear drivers 9 are fixedly connected with the pliers bar, and their moving ends are respectively supported on the inner walls on both sides of the frame.

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.