CN104209440A - Forging operation machine with optimized deflection mechanism - Google Patents
Forging operation machine with optimized deflection mechanism Download PDFInfo
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- CN104209440A CN104209440A CN201410409905.4A CN201410409905A CN104209440A CN 104209440 A CN104209440 A CN 104209440A CN 201410409905 A CN201410409905 A CN 201410409905A CN 104209440 A CN104209440 A CN 104209440A
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- pair
- linear actuator
- turning joint
- lift arm
- hinged
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- 238000005242 forging Methods 0.000 title claims abstract description 22
- 210000000078 claw Anatomy 0.000 claims description 21
- 230000001174 ascending effect Effects 0.000 abstract 2
- 230000001360 synchronised effect Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Abstract
The invention provides a forging operation machine with an optimized deflection mechanism. A clamp is hinged to a clamp rod, a pitching linear driver is hinged to the clamp rod and a back slide rod, a back left and right linear driver is fixedly connected with the back slide rod and a back lifting arm, the back lifting arm is hinged to a machine frame, a synchronous connecting rod is hinged to the back lifting arm and a front lifting arm, a lower connecting element fixedly connected with the front part of the clamp rod is hinged to an upper connecting element, the upper connecting element is hinged to a front hanging rod, the front hanging rod is hinged to the front sliding rod and a front and back linear driver, the front and back linear driver is hinged to the machine frame, a front left and right linear driver is fixedly connected with the front slide rod and the front lifting arm, the front lifting arm is hinged to the machine frame and an ascending and descending linear driver, and the ascending and descending linear driver is hinged to the machine frame. The forging operation machine has the advantages that the deflection device is optimized, the forging operation machine better conforms to the practical forging requirements, and the active complying control difficulty is reduced.
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 found, publication number is that the Chinese patent of CN103537598A discloses a kind of forging manipulator optimizing arrangement for deflecting, and its structure is simple, can realize clamp yaw motion, but its deflection center distance is not at jaw place, adds and initiatively complies with control difficulty.Publication number is a kind of forging manipulator lifting mechanism disclosed in CN101791674A, and its forward mounting part not be used on front slide bar and moves integrally, and simplifies the structure, but it exists coordination bar, in forging process, easily fatigue rupture occurs by alternate stress.Publication number is that the Chinese patent of CN1772411A discloses a kind of double-ball joint telescopic six-dimensional parallel forging operation machine, and it can meet the requirement of six degree of freedom, but complex structure, not easily manufacture and install.
Summary of the invention the object of the present invention is to provide the forging manipulator of the optimization deflection mechanism that a kind of structure is simple, good stability, bearing capacity are high.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, lower connector, a pair front overhang peg, a pair lifting linear actuator, a pair synchronising (connecting) rod and a pair upper connector; 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, a pair upper 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 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 by ball pivot one end with a pair is connected, and the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, above-mentioned claw beam connects firmly near the middle part of a position of clamp and lower connector, the two ends of this lower connector are connected with one end of a pair upper connector respectively by ball pivot, the other end of this pair upper connector is connected with one end of a pair front overhang peg respectively by turning joint, the turning joint axis of above-mentioned connection upper connector and front overhang peg all meets at the vertical vertical line being positioned at jaw place, the other end of above-mentioned a 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, the other end of this pair front lift arm is connected with frame respectively by turning joint, one position of above-mentioned a pair front overhang peg is connected with one end of a pair tandem driver respectively by ball pivot, 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: a pair lifting linear actuator promotes a pair front lift arm, drive a pair front overhang peg, a pair upper connector, lower connector, claw beam front end is moved up and down, after driving a pair by a pair synchronising (connecting) rod, lift arm is around gantry rotation simultaneously, and then drive claw beam rear end to move up and down by pitching linear actuator, thus claw beam is driven to move up and down.Seesaw process: a pair tandem driver promotes a pair front overhang peg, drives a pair upper connector and lower connector to do front and back back and forth movement, and then drive claw beam and clamp to seesaw.Elevating movement process: upper and lower elevating movement is done in pitching linear actuator Direct driver claw beam rear end.Deflection and offset movement process: before front left and right linear actuator promotes, slide bar moves, a pair front overhang peg, a pair upper connector is driven to move, and then drive claw beam front end transverse shifting, after rear left and right linear actuator promotes, slide bar moves, pitching linear actuator is driven to move, and then drive claw beam rear end transverse shifting, thus claw beam is made to realize transverse shifting; When front left and right linear actuator is fixed, slide bar after rear left and right linear actuator drives, drives claw beam around clamp center rotating by pitching linear actuator, realizes claw beam yaw 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, claw beam deflection center is positioned at clamp center, optimizes deflection mechanism, and more realistic forging requirement, reduces and initiatively comply with control difficulty.
2, there is not deflection and coordinate bar structure, avoid the loss because fatigue rupture causes, improve the mechanical property of forging manipulator.
3, structure is simple, does not exist and owes input phenomenon, thus add the stability of motion, improve forging quality.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
In figure: connector under 1-clamp, 2-, 3-claw beam, 4-are elevated slide bar, 15-front overhang peg, 16-upper connector before left and right linear actuator after slide bar after lift arm after linear actuator, 5-tandem driver, 6-pitching linear actuator, 7-, 8-frame, 9-, 10-, 11-synchronising (connecting) rod, 12-front lift arm, 13-front left and right linear actuator, 14-.
Detailed description of the invention:
Optimize in the 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 6, the other end of this pitching linear actuator is connected with rear slide bar 9 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 10 respectively, after this pair, one end of rear lift arm 7 connects firmly the other end of left and right linear actuator with a pair respectively, after this pair, the other end of lift arm is connected with frame 8 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 11 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 by ball pivot one end with a pair is connected, and the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, above-mentioned claw beam connects firmly near the middle part of a position of clamp and lower connector 2, the two ends of this lower connector are connected with one end of a pair upper connector 16 respectively by ball pivot, the other end of this pair upper connector is connected with one end of a pair front overhang peg 15 respectively by turning joint, the turning joint axis of above-mentioned connection upper connector and front overhang peg all meets at the vertical vertical line being positioned at jaw place, the other end of above-mentioned a 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, the other end of this pair front lift arm is connected with frame respectively by turning joint, one position of above-mentioned a pair front overhang peg is connected with one end of a pair tandem driver 5 respectively by ball pivot, 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 deflection mechanism 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 by ball pivot one end with a pair is connected, and the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, above-mentioned claw beam connects firmly near the middle part of a position of clamp and lower connector, the two ends of this lower connector are connected with one end of a pair upper connector respectively by ball pivot, the other end of this pair upper connector is connected with one end of a pair front overhang peg respectively by turning joint, the turning joint axis of above-mentioned connection upper connector and front overhang peg all meets at the vertical vertical line being positioned at jaw place, the other end of above-mentioned a 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, the other end of this pair front lift arm is connected with frame respectively by turning joint, one position of above-mentioned a pair front overhang peg is connected with one end of a pair tandem driver respectively by ball pivot, 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 |
|---|---|---|---|
| CN201410409905.4A CN104209440B (en) | 2014-08-20 | 2014-08-20 | A kind of forging manipulator optimizing deflection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410409905.4A CN104209440B (en) | 2014-08-20 | 2014-08-20 | A kind of forging manipulator optimizing deflection mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104209440A true CN104209440A (en) | 2014-12-17 |
| CN104209440B CN104209440B (en) | 2016-03-02 |
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| CN201410409905.4A Expired - Fee Related CN104209440B (en) | 2014-08-20 | 2014-08-20 | A kind of forging manipulator optimizing deflection mechanism |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202894178U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator of six degrees of freedom |
| CN202894181U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator capable of optimizing and lifting motion |
| CN103341584A (en) * | 2013-06-06 | 2013-10-09 | 燕山大学 | Linear lifting forging manipulator for optimizing lifting driving device |
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
-
2014
- 2014-08-20 CN CN201410409905.4A patent/CN104209440B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202894178U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator of six degrees of freedom |
| CN202894181U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator capable of optimizing and lifting motion |
| CN103341584A (en) * | 2013-06-06 | 2013-10-09 | 燕山大学 | Linear lifting forging manipulator for optimizing lifting driving device |
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
Non-Patent Citations (1)
| Title |
|---|
| 颜昌亚: "巨型重载锻造操作机系统性能研究", 《中国博士学位论文全文数据库（工程科技I辑）》 * |
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| CN104209440B (en) | 2016-03-02 |
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Granted publication date: 20160302 |