CN104325062A - Pitching linear actuator and machine frame connection type forging manipulator - Google Patents
Pitching linear actuator and machine frame connection type forging manipulator Download PDFInfo
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- CN104325062A CN104325062A CN201410553366.1A CN201410553366A CN104325062A CN 104325062 A CN104325062 A CN 104325062A CN 201410553366 A CN201410553366 A CN 201410553366A CN 104325062 A CN104325062 A CN 104325062A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
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Abstract
The invention discloses a pitching linear actuator and machine frame connection type forging manipulator, which is characterized in that clamping pincers are hinged to pincer rods; rear suspension rods are hinged to the pincer rods and a rear sliding rod; rear left-right linear actuators are fixedly connected with the rear sliding rod and rear connecting members; synchronous lifting rods are hinged to synchronous linking rods, the rear connecting members and a machine frame; a pitching linear actuator is hinged to the machine frame and the rear connecting members; a front lifting arm is hinged to the synchronous linking rods and the machine frame; a lower connecting member, which is fixedly connected to the front parts of the pincer rods, is hinged to upper connecting members; the upper connecting members are hinged to front suspension rods; the front suspension rods are hinged to a front sliding rod and front-rear linear actuators; the front-rear linear actuators are hinged to the machine frame; front left-right linear actuators are fixedly connected with the front sliding rod and the front lifting arm; a lifting linear actuator is hinged to the front lifting arm and the machine frame. According to the pitching linear actuator and machine frame connection type forging manipulator, a rear lifting structure is optimized, the pitching driving force is improved, and the stability and dynamic performance of a system are 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 and stamping weight equipment, is the necessaries improving forging and stamping production efficiency and forging quality.Find through retrieval, publication number is that the Chinese patent of CN102019340A discloses a kind of forging manipulator, the two ends of its pitching linear actuator are connected with claw beam rear end and rear slide bar respectively, be not connected with frame, pitching linear actuator is made to become load in motion process, stable power output can not be supplied with a fixing point, affect stability and the dynamic property of manipulator.Publication number is that the Chinese patent of CN202155463U discloses a kind of few coupled motions forging manipulator lifting mechanism, although connect for solid hopkinson bar between its claw beam rear end and rear slide bar, improve the stability of system, but its a pair pitching linear actuator is coordinated to seesaw as synchronising (connecting) rod, because linear actuator belongs to compliant mechanism, therefore, when bearing unbalance loading, both sides change is inconsistent, have impact on its synchronous effect.Publication number is a kind of Linear lifting forging manipulator disclosed in CN103341584A, its lifter motion is rectilinear motion completely, but its hoisting mechanism complex structure, not easily install, coordinate bar simultaneously and can ceaselessly be subject to instantaneous impulse force in forging process, produce very large instantaneous torque and moment of flexure, because rear coordination bar is a rigid rod, therefore fatigue rupture easily occurs and fractures.
Summary of the invention the object of the present invention is to provide the pitching linear actuator junctor posture forging manipulator that a kind of structure is simple, stability is high, dynamic property is good.
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 suspension rods, lower connector, a pair upper connector, a pair front overhang peg, a pair synchronising (connecting) rod, a pair Synchronous lifting bar, a pair rear connectors and 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.
Clamp rear end is connected with claw beam front end by turning joint, this claw beam rear end is connected with one end of rear suspension rods by ball pivot, the other end of this rear suspension rods is connected with in the middle part of 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, the other end of left and right linear actuator connects firmly with one end of a pair rear connectors respectively, the other end of this pair rear connectors is connected with one end of a pair synchronising (connecting) rod and one end of a pair Synchronous lifting bar respectively by composite rotation hinge, the other end of this pair Synchronous lifting bar is connected respectively by composite rotation hinge one end with frame and a pair pitch drive, the other end of this pair pitching linear actuator is connected by turning joint one end with above-mentioned a pair rear connectors, the other end of above-mentioned a pair synchronising (connecting) rod is connected with a position of a pair front lift arm respectively by turning joint, and another part of this pair front lift arm is connected with frame respectively by turning joint, 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 respectively by turning joint one end with a pair front overhang peg, the turning joint axis of above-mentioned connection upper connector and front overhang peg all meets at the vertical vertical line being positioned at clamp 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 the one end being elevated linear actuator for a pair respectively by ball pivot, the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, one position 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: 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, drive a pair Synchronous lifting bar around gantry rotation by a pair synchronising (connecting) rod simultaneously, and then drive claw beam rear end to move up and down by rear connectors and rear suspension rods, 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: pitching linear actuator drives rear suspension rods, thus drive claw beam to do upper and lower elevating movement.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, drive rear suspension rods moves, 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 keeps static, slide bar after rear left and right linear actuator drives, drives claw beam around clamp center rotating by rear suspension rods, 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, lifting, front and back buffering are all connected with frame with pitching linear actuator, stable power can both be carried out with a fixing point to mechanism to export, and for the instantaneous impulse force that system is subject to, the buffering reaction force acts that the instantaneous impulse force of direction of primary motion all can bring by the linear actuator with certain flexibility is in frame, avoid by other rigid rods to bear this power, bring fatigue rupture and fracture, therefore effectively improve stability and the dynamic property of system.
2, replace rear lift arm of the prior art with Synchronous lifting bar and rear connectors, effectively alleviate the weight of rear lift portion, decrease the reaction force of rear lift portion gantry rotation pair, thus add the bearing capacity of system in lifting process.
3, there is not deficient input phenomenon in deflection motion, to carry out in the process deflected can not due to forward mounting part of the prior art in there is redundancy skew free degree structure and cause skew not deflect, thus enhance 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, 17-front overhang peg, 18-upper connector before left and right linear actuator after slide bar after linear actuator, 5-tandem driver, 6-rear suspension rods, 7-pitching linear actuator, 8-, 9-frame, 10-rear connectors, 11-Synchronous lifting bar, 12-, 13-synchronising (connecting) rod, 14-front lift arm, 15-front left and right linear actuator, 16-.
Detailed description of the invention:
In the schematic diagram of a kind of pitching linear actuator junctor posture forging manipulator 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 rear suspension rods 6, the other end of this rear suspension rods is connected with in the middle part of rear slide bar 8 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 12 respectively, after this pair, the other end of left and right linear actuator connects firmly with one end of a pair rear connectors 10 respectively, the other end of this pair rear connectors is connected with one end of a pair synchronising (connecting) rod 13 and one end of a pair Synchronous lifting bar 11 respectively by composite rotation hinge, the other end of this pair Synchronous lifting bar is connected respectively by composite rotation hinge one end with frame 9 and a pair pitch drive 7, the other end of this pair pitching linear actuator is connected respectively by turning joint one end with above-mentioned a pair rear connectors, the other end of above-mentioned a pair synchronising (connecting) rod is connected with a position of a pair front lift arm 14 respectively by turning joint, and another part of this pair front lift arm is connected with frame respectively by turning joint, 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 respectively by ball pivot one end with a pair upper connector 18, the other end of this pair upper connector is connected respectively by turning joint one end with a pair front overhang peg 17, the turning joint axis of above-mentioned connection upper connector and front overhang peg all meets at the vertical vertical line being positioned at clamp place, the other end of above-mentioned a pair front overhang peg is connected with front slide bar 16 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 15 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 the one end being elevated linear actuator 4 for a pair respectively by ball pivot, the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, one position of above-mentioned a pair front overhang peg is connected respectively by ball pivot one end with a pair tandem driver 5, and the other end of this pair tandem driver is connected with frame respectively by ball pivot.
Claims (1)
1. a pitching linear actuator junctor posture forging manipulator, 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 with one end of rear suspension rods by ball pivot, the other end of this rear suspension rods is connected with in the middle part of 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, the other end of left and right linear actuator connects firmly with one end of a pair rear connectors respectively, the other end of this pair rear connectors is connected with one end of a pair synchronising (connecting) rod and one end of a pair Synchronous lifting bar respectively by composite rotation hinge, the other end of this pair Synchronous lifting bar is connected respectively by composite rotation hinge one end with frame and a pair pitch drive, the other end of this pair pitching linear actuator is connected by turning joint one end with above-mentioned a pair rear connectors, the other end of above-mentioned a pair synchronising (connecting) rod is connected with a position of a pair front lift arm respectively by turning joint, and another part of this pair front lift arm is connected with frame respectively by turning joint, 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 respectively by turning joint one end with a pair front overhang peg, the turning joint axis of above-mentioned connection upper connector and front overhang peg all meets at the vertical vertical line being positioned at clamp 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 the one end being elevated linear actuator for a pair respectively by ball pivot, the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, one position 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.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410553366.1A CN104325062B (en) | 2014-10-17 | 2014-10-17 | A kind of pitching linear actuator junctor posture forging manipulator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410553366.1A CN104325062B (en) | 2014-10-17 | 2014-10-17 | A kind of pitching linear actuator junctor posture forging manipulator |
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| CN104325062A true CN104325062A (en) | 2015-02-04 |
| CN104325062B CN104325062B (en) | 2016-05-04 |
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| CN201410553366.1A Expired - Fee Related CN104325062B (en) | 2014-10-17 | 2014-10-17 | A kind of pitching linear actuator junctor posture forging manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033147A (en) * | 2015-07-27 | 2015-11-11 | 燕山大学 | Rear-mounted forging manipulator for pitching linear actuator |
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| US4393683A (en) * | 1980-06-07 | 1983-07-19 | Sms Schloemann-Siemag Aktiengesellschaft | Traction drive for forging manipulators |
| EP0255634A2 (en) * | 1986-07-31 | 1988-02-10 | SMS Hasenclever GmbH | Forging manipulator |
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN202155463U (en) * | 2011-07-06 | 2012-03-07 | 燕山大学 | Lifting mechanism of forging operation machine with little coupling movement |
| CN103341584A (en) * | 2013-06-06 | 2013-10-09 | 燕山大学 | Linear lifting forging manipulator for optimizing lifting driving device |
| CN103381464A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel rod type lifting mechanism for forging manipulator |
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
-
2014
- 2014-10-17 CN CN201410553366.1A patent/CN104325062B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE684384A (en) * | 1964-09-01 | 1967-01-03 | ||
| US4393683A (en) * | 1980-06-07 | 1983-07-19 | Sms Schloemann-Siemag Aktiengesellschaft | Traction drive for forging manipulators |
| EP0255634A2 (en) * | 1986-07-31 | 1988-02-10 | SMS Hasenclever GmbH | Forging manipulator |
| CN101791674A (en) * | 2010-03-26 | 2010-08-04 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN102019340A (en) * | 2010-11-15 | 2011-04-20 | 沈阳重型机械集团有限责任公司 | Claw beam lifting mechanism for forging manipulator |
| CN202155463U (en) * | 2011-07-06 | 2012-03-07 | 燕山大学 | Lifting mechanism of forging operation machine with little coupling movement |
| CN103341584A (en) * | 2013-06-06 | 2013-10-09 | 燕山大学 | Linear lifting forging manipulator for optimizing lifting driving device |
| CN103381464A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel rod type lifting mechanism for forging manipulator |
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
Non-Patent Citations (1)
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| 余发国等: "基于G_F集的锻造操作机构型方法", 《机械工程学报》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033147A (en) * | 2015-07-27 | 2015-11-11 | 燕山大学 | Rear-mounted forging manipulator for pitching linear actuator |
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| CN104325062B (en) | 2016-05-04 |
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