CN104325062B - A kind of pitching linear actuator junctor posture forging manipulator - Google Patents
A kind of pitching linear actuator junctor posture forging manipulator Download PDFInfo
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- 238000005242 forging Methods 0.000 title claims abstract description 16
- 239000000725 suspension Substances 0.000 claims abstract description 36
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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
一种俯仰直线驱动器连接机架式锻造操作机，夹钳与钳杆铰接，后悬挂杆与钳杆和后滑杆铰接，后左右直线驱动器与后滑杆和后连接件固联，同步提升杆与同步连杆、后连接件和机架铰接，俯仰直线驱动器与机架和后连接件铰接；前提升臂与同步连杆和机架铰接；固联在钳杆前部的下连接件与上连接件铰接，上连接件与前悬挂杆铰接，前悬挂杆与前滑杆和前后直线驱动器铰接，前后直线驱动器与机架铰接，前左右直线驱动器与前滑杆和前提升臂固联，升降直线驱动器与前提升臂和机架铰接。本发明优化了后提升结构，改善了俯仰驱动力，提高了系统稳定性和动态性能。
A pitching linear drive connected to a frame-type forging manipulator, the clamp is hinged to the clamp rod, the rear suspension rod is hinged to the clamp rod and the rear sliding rod, the rear left and right linear drives are fixedly connected to the rear sliding rod and the rear connecting piece, and the lifting rod is synchronized It is hinged with the synchronous link, the rear link and the frame, the pitch linear drive is hinged with the frame and the rear link; the front lifting arm is hinged with the synchronous link and the frame; the lower link fixed at the front of the tong bar is connected with the upper The connecting piece is hinged, the upper connecting piece is hinged with the front suspension rod, the front suspension rod is hinged with the front sliding rod and the front and rear linear drivers, the front and rear linear drivers are hinged with the frame, the front left and right linear drivers are fixedly connected with the front sliding rod and the front lifting arm, and the lifting A linear drive is articulated to the front lift arm and frame. The invention optimizes the rear lifting structure, improves pitching driving force, and improves system stability and dynamic performance.
Description
技术领域本发明涉及一种锻造操作机。FIELD OF THE INVENTION The present invention relates to a forging manipulator.
背景技术锻造操作机是锻压重型装备中辅助加工设备之一，是提高锻压生产效率和锻件质量的必要设备。经检索发现，公开号为CN102019340A的中国专利公开了一种锻造操作机，其俯仰直线驱动器的两端分别与钳杆后端和后滑杆连接，未与机架连接，使得俯仰直线驱动器在运动过程中成为负载，不能以一个固定点供给稳定的输出力，影响操作机的稳定性和动态性能。公开号为CN202155463U的中国专利公开了一种少耦合运动锻造操作机提升机构，虽然其钳杆后端和后滑杆之间连接为实心杆，改善了系统的稳定性，但其一对俯仰直线驱动器作为同步连杆协调前后运动，由于直线驱动器属于柔性机构，因此当承受偏载时，两边变化不一致，影响了其同步作用。公开号为CN103341584A公开的一种直线提升锻造操作机，其提升运动为完全的直线运动，但其提升机构结构复杂，不易安装，同时后协调杆在锻造过程中会不停的受到瞬时冲力，产生很大的瞬时扭矩和弯矩，由于后协调杆是一个刚性杆，因此易发生疲劳破坏和折断。Background Art A forging manipulator is one of auxiliary processing equipment in forging heavy equipment, and is a necessary equipment to improve forging production efficiency and forging quality. After searching, it was found that the Chinese patent with the publication number CN102019340A discloses a forging manipulator, the two ends of the pitching linear drive are respectively connected with the rear end of the clamp rod and the rear slide bar, and are not connected with the frame, so that the pitching linear drive is moving It becomes a load in the process and cannot provide a stable output force at a fixed point, which affects the stability and dynamic performance of the manipulator. The Chinese patent with the publication number CN202155463U discloses a lifting mechanism of a forging manipulator with less coupling motion. Although the connection between the rear end of the clamp rod and the rear slide rod is a solid rod, which improves the stability of the system, its pair of pitching straight lines The drive acts as a synchronous link to coordinate forward and backward movement. Since the linear drive is a flexible mechanism, when it is subjected to an eccentric load, the changes on both sides are inconsistent, which affects its synchronization. The publication number is CN103341584A, which discloses a linear lifting forging manipulator. Its lifting motion is a complete linear motion, but its lifting mechanism has a complicated structure and is not easy to install. Due to the large instantaneous torque and bending moment, the rear coordinating rod is a rigid rod, so it is prone to fatigue damage and fracture.
发明内容本发明的目的在于提供一种结构简单、稳定性高、动态性能好的俯仰直线驱动器连接机架式锻造操作机。SUMMARY OF THE INVENTION The object of the present invention is to provide a frame-type forging manipulator with simple structure, high stability and good dynamic performance.
本发明主要包括夹钳旋转装置、提升装置、俯仰装置、前后缓冲装置及偏转偏移装置。所述夹钳旋转装置包括：钳杆和夹钳；所述提升装置包括：前提升臂、后悬挂杆、下连接件、一对上连接件、一对前悬挂杆、一对同步连杆、一对同步提升杆、一对后连接件和一对升降直线驱动器；所述俯仰装置包括：俯仰直线驱动器；所述前后缓冲装置包括：一对前后直线驱动器；所述偏转偏移装置包括：一对前左右直线驱动器、一对后左右直线驱动器。The invention mainly includes a clamp rotating device, a lifting device, a pitching device, a front and rear buffer device and a deflection and offset device. The clamp rotating device includes: a clamp rod and a clamp; the lifting device includes: a front lifting arm, a rear suspension rod, a lower connector, a pair of upper connectors, a pair of front suspension rods, a pair of synchronous links, A pair of synchronous lifting rods, a pair of rear connectors and a pair of lifting linear drives; the pitching device includes: a pitching linear drive; the front and rear buffer devices include: a pair of front and rear linear drives; the deflection offset device includes: a A pair of front left and right linear drives and a pair of rear left and right linear drives.
夹钳后端通过转动铰链与钳杆前端连接，该钳杆后端通过球铰与后悬挂杆的一端连接，该后悬挂杆的另一端通过转动铰链与后滑杆中部连接，该后滑杆的两端分别与一对后左右直线驱动器的一端固联，该一对后左右直线驱动器的另一端分别与一对后连接件的一端固联，该一对后连接件的另一端分别通过复合转动铰链与一对同步连杆的一端和一对同步提升杆的一端连接，该一对同步提升杆的另一端分别通过复合转动铰链与机架和一对俯仰直线驱动器的一端连接，该一对俯仰直线驱动器的另一端通过转动铰链与上述一对后连接件的一端连接；上述一对同步连杆的另一端分别通过转动铰链与一对前提升臂的一部位连接，该一对前提升臂的另一部分分别通过转动铰链与机架相连；上述钳杆靠近夹钳的一部位与下连接件的中部固联，该下连接件的两端分别通过球铰与一对上连接件的一端连接，该一对上连接件的另一端分别通过转动铰链与一对前悬挂杆的一端连接,上述连接上连接件与前悬挂杆的转动铰链轴线均交于位于夹钳处的竖直垂线，上述一对前悬挂杆的另一端分别通过转动铰链与前滑杆连接，该前滑杆的两端分别与一对前左右直线驱动器的一端固联，该一对前左右直线驱动器的另一端分别与上述一对前提升臂的一端固联，该一对前提升臂的另一端分别通过球铰与一对升降直线驱动器的一端连接，该一对升降直线驱动器的另一端分别通过球铰与机架连接；上述一对前悬挂杆的一部位分别通过球铰与一对前后直线驱动器的一端连接，该一对前后直线驱动器的另一端分别通过球铰与机架连接。The rear end of the clamp is connected to the front end of the clamp rod through a rotating hinge, the rear end of the clamp rod is connected to one end of the rear suspension rod through a ball joint, and the other end of the rear suspension rod is connected to the middle part of the rear sliding rod through a rotating hinge, and the rear sliding rod The two ends of the pair are fixedly connected to one end of a pair of rear left and right linear drivers respectively, and the other ends of the pair of rear left and right linear drivers are respectively fixedly connected to one end of a pair of rear connectors, and the other ends of the pair of rear connectors are respectively connected by composite The rotating hinge is connected with one end of a pair of synchronous connecting rods and one end of a pair of synchronous lifting rods, and the other ends of the pair of synchronous lifting rods are respectively connected with the frame and one end of a pair of pitching linear drives through compound rotating hinges. The other end of the pitching linear drive is connected to one end of the above-mentioned pair of rear connectors through a rotating hinge; the other end of the above-mentioned pair of synchronous connecting rods is respectively connected to a part of a pair of front lifting arms through a rotating hinge, and the pair of front lifting arms The other part of each part is connected with the frame through the rotating hinge respectively; a part of the above-mentioned tong bar close to the clamp is fixedly connected with the middle part of the lower connecting piece, and the two ends of the lower connecting piece are respectively connected with one end of a pair of upper connecting pieces through a ball hinge. , the other ends of the pair of upper connectors are respectively connected to one end of the pair of front suspension rods through rotating hinges, and the rotation hinge axes connecting the upper connectors and the front suspension rods are all intersected at the vertical line at the clamp, The other ends of the above-mentioned pair of front suspension rods are respectively connected to the front sliding rod through rotating hinges. It is fixedly connected with one end of the above-mentioned pair of front lifting arms, and the other ends of the pair of front lifting arms are respectively connected to one end of a pair of lifting linear drives through ball joints, and the other ends of the pair of lifting linear drives are respectively connected to the machine through ball joints. frame connection; one part of the above-mentioned pair of front suspension rods is respectively connected to one end of a pair of front and rear linear drivers through a ball joint, and the other end of the pair of front and rear linear drivers is respectively connected to the frame through a ball joint.
本发明锻造操作机的升降运动过程：一对升降直线驱动器推动一对前提升臂，带动一对前悬挂杆、一对上连接件、下连接件，使钳杆前端做上下运动，同时通过一对同步连杆带动一对同步提升杆绕机架转动，进而通过后连接件和后悬挂杆带动钳杆后端做上下运动，从而带动钳杆做升降运动。前后运动过程：一对前后直线驱动器推动一对前悬挂杆，带动一对上连接件和下连接件做前后往返运动，进而带动钳杆及夹钳做前后运动。俯仰运动过程：俯仰直线驱动器驱动后悬挂杆，从而带动钳杆做上下俯仰运动。偏转和偏移运动过程：前左右直线驱动器推动前滑杆移动，带动一对前悬挂杆、一对上连接件移动，进而带动钳杆前端横向移动，后左右直线驱动器推动后滑杆移动，带动后悬挂杆移动，进而带动钳杆后端横向移动，从而使钳杆实现横向移动；当前左右直线驱动器保持静止，后左右直线驱动器驱动后滑杆，通过后悬挂杆带动钳杆绕夹钳中心转动，实现钳杆偏转运动。夹钳旋转过程：通过驱动夹钳后端使其绕后端铰链轴线做旋转运动。The lifting motion process of the forging manipulator of the present invention: a pair of lifting linear actuators push a pair of front lifting arms, drive a pair of front suspension rods, a pair of upper connectors, and a lower connector, so that the front end of the tong bar moves up and down, and at the same time passes a The synchronous connecting rod drives a pair of synchronous lifting rods to rotate around the frame, and then drives the rear end of the tong rod to move up and down through the rear connecting piece and the rear suspension rod, thereby driving the tong rod to perform lifting motion. Front and rear movement process: a pair of front and rear linear drivers push a pair of front suspension rods, drive a pair of upper connectors and lower connectors to move forward and backward, and then drive the clamp rod and clamp to move forward and backward. Pitching motion process: the pitching linear drive drives the rear suspension rod, thereby driving the clamp rod to do up and down pitching motion. Deflection and offset movement process: the front left and right linear drivers push the front slider to move, driving a pair of front suspension rods and a pair of upper connecting parts to move, and then drive the front end of the clamp rod to move laterally, and the rear left and right linear drivers push the rear slider to move, driving The rear suspension rod moves, and then drives the rear end of the clamp rod to move laterally, so that the clamp rod can move laterally; the current left and right linear drivers remain stationary, and the rear left and right linear drivers drive the rear sliding rod, and the rear suspension rod drives the clamp rod to rotate around the center of the clamp , to realize the deflection movement of the clamp rod. Clamp rotation process: by driving the rear end of the clamp to rotate around the hinge axis of the rear end.
本发明与现有技术相比具有如下优点：Compared with the prior art, the present invention has the following advantages:
1、升降、前后缓冲和俯仰直线驱动器均与机架连接，都能够以一个固定点对机构进行稳定的力输出，且对于系统受到的瞬时冲力，具有一定柔性的直线驱动器均可将主运动方向的瞬时冲力带来的缓冲反作用力作用到机架上，避免由其他刚性杆来承受此力，带来疲劳破坏和折断，因此有效地提高了系统的稳定性和动态性能。1. The lifting, front and rear buffering and pitching linear drives are all connected to the frame, and can output stable force to the mechanism at a fixed point, and for the instantaneous impulse received by the system, the linear drive with certain flexibility can change the main motion direction The buffer reaction force brought by the instantaneous impulse force acts on the frame, avoiding the force borne by other rigid rods, causing fatigue damage and breaking, thus effectively improving the stability and dynamic performance of the system.
2、用同步提升杆和后连接件代替现有技术中的后提升臂，有效的减轻了后提升部分的重量，减少了后提升部分机架转动副的反作用力，从而增加了升降过程中系统的承载能力。2. The rear lifting arm in the prior art is replaced by the synchronous lifting rod and the rear connecting piece, which effectively reduces the weight of the rear lifting part and reduces the reaction force of the rotating pair of the frame in the rear lifting part, thereby increasing the system during the lifting process. carrying capacity.
3、偏移偏转运动中不存在欠输入现象，在进行偏转的过程中不会由于现有技术中的前悬挂部分中存在冗余偏移自由度结构而引起偏移却不进行偏转，从而增强了运动的稳定性，提高了锻件质量。3. There is no under-input phenomenon in the deflection deflection movement, and the deflection will not be caused by the redundant deflection degree of freedom structure in the front suspension part of the prior art during the deflection process, thereby enhancing It improves the stability of the movement and improves the quality of forgings.
附图说明Description of drawings
图1是本发明的立体示意简图。Fig. 1 is a three-dimensional schematic diagram of the present invention.
图中：1-夹钳、2-下连接件、3-钳杆、4-升降直线驱动器、5-前后直线驱动器、6-后悬挂杆、7-俯仰直线驱动器、8-后滑杆、9-机架、10-后连接件、11-同步提升杆、12-后左右直线驱动器、13-同步连杆、14-前提升臂、15-前左右直线驱动器、16-前滑杆、17-前悬挂杆、18-上连接件。In the figure: 1-clamp, 2-lower connector, 3-clamp rod, 4-lift linear drive, 5-front and rear linear drive, 6-rear suspension rod, 7-pitch linear drive, 8-rear slide bar, 9 -frame, 10-rear connector, 11-synchronous lifting rod, 12-rear left and right linear drive, 13-synchronous link, 14-front lifting arm, 15-front left and right linear drive, 16-front slide bar, 17- Front suspension rod, 18-upper link.
具体实施方式：detailed description:
在图1所示的一种俯仰直线驱动器连接机架式锻造操作机的示意图中，夹钳1后端通过转动铰链与钳杆3前端连接，该钳杆后端通过球铰与后悬挂杆6的一端连接，该后悬挂杆的另一端通过转动铰链与后滑杆8中部连接，该后滑杆的两端分别与一对后左右直线驱动器12的一端固联，该一对后左右直线驱动器的另一端分别与一对后连接件10的一端固联，该一对后连接件的另一端分别通过复合转动铰链与一对同步连杆13的一端和一对同步提升杆11的一端连接，该一对同步提升杆的另一端分别通过复合转动铰链与机架9和一对俯仰直线驱动器7的一端连接，该一对俯仰直线驱动器的另一端分别通过转动铰链与上述一对后连接件的一端连接；上述一对同步连杆的另一端分别通过转动铰链与一对前提升臂14的一部位连接，该一对前提升臂的另一部分分别通过转动铰链与机架相连；上述钳杆靠近夹钳的一部位与下连接件2的中部固联，该下连接件的两端分别通过球铰与一对上连接件18的一端连接，该一对上连接件的另一端分别通过转动铰链与一对前悬挂杆17的一端连接,上述连接上连接件与前悬挂杆的转动铰链轴线均交于位于夹钳处的竖直垂线，上述一对前悬挂杆的另一端分别通过转动铰链与前滑杆16连接，该前滑杆的两端分别与一对前左右直线驱动器15的一端固联，该一对前左右直线驱动器的另一端分别与上述一对前提升臂的一端固联，该一对前提升臂的另一端分别通过球铰与一对升降直线驱动器4的一端连接，该一对升降直线驱动器的另一端分别通过球铰与机架连接；上述一对前悬挂杆的一部位分别通过球铰与一对前后直线驱动器5的一端连接，该一对前后直线驱动器的另一端分别通过球铰与机架连接。In the schematic diagram of a pitching linear drive connected to a frame-type forging manipulator shown in Figure 1, the rear end of the clamp 1 is connected to the front end of the clamp rod 3 through a rotating hinge, and the rear end of the clamp rod is connected to the rear suspension rod 6 through a ball hinge. The other end of the rear suspension rod is connected to the middle part of the rear sliding rod 8 through a rotating hinge. The other end of the pair is fixedly connected with one end of a pair of rear connectors 10 respectively, and the other end of the pair of rear connectors is respectively connected with one end of a pair of synchronous connecting rods 13 and one end of a pair of synchronous lifting rods 11 through a compound rotary hinge, The other ends of the pair of synchronous lifting rods are respectively connected to the frame 9 and one end of the pair of pitch linear actuators 7 through a composite rotary hinge, and the other ends of the pair of pitch linear actuators are respectively connected to the above-mentioned pair of rear connectors through a rotary hinge. One end is connected; the other end of the above-mentioned pair of synchronous connecting rods is respectively connected with a part of a pair of front lifting arms 14 through a rotating hinge, and the other part of the pair of front lifting arms is connected with the frame through a rotating hinge respectively; the above-mentioned clamp lever is close to A part of the clamp is fixedly connected with the middle part of the lower connecting piece 2, and the two ends of the lower connecting piece are respectively connected with one end of a pair of upper connecting pieces 18 through a ball joint, and the other ends of the pair of upper connecting pieces are respectively passed through a rotating hinge. It is connected with one end of a pair of front suspension rods 17, the rotating hinge axes of the above-mentioned connecting piece and the front suspension rods are all intersected at the vertical line at the clamp, and the other ends of the above-mentioned pair of front suspension rods pass through the rotating hinge respectively. It is connected with the front slide bar 16, and the two ends of the front slide bar are fixedly connected with one end of a pair of front left and right linear actuators 15 respectively, and the other ends of the pair of front left and right linear actuators are respectively fixedly connected with one end of the above-mentioned pair of front lifting arms , the other ends of the pair of front lifting arms are respectively connected to one end of a pair of lifting linear actuators 4 through ball joints, and the other ends of the pair of lifting linear actuators are respectively connected to the frame through ball joints; the above pair of front suspension rods One part is respectively connected to one end of a pair of front and rear linear drivers 5 through a ball joint, and the other end of the pair of front and rear linear drivers is respectively connected to the frame through a ball joint.
一种俯仰直线驱动器连接机架式锻造操作机，夹钳与钳杆铰接，后悬挂杆与钳杆和后滑杆铰接，后左右直线驱动器与后滑杆和后连接件固联，同步提升杆与同步连杆、后连接件和机架铰接，俯仰直线驱动器与机架和后连接件铰接；前提升臂与同步连杆和机架铰接；固联在钳杆前部的下连接件与上连接件铰接，上连接件与前悬挂杆铰接，前悬挂杆与前滑杆和前后直线驱动器铰接，前后直线驱动器与机架铰接，前左右直线驱动器与前滑杆和前提升臂固联，升降直线驱动器与前提升臂和机架铰接。本发明优化了后提升结构，改善了俯仰驱动力，提高了系统稳定性和动态性能。A pitching linear drive connected to a frame-type forging manipulator, the clamp is hinged to the clamp rod, the rear suspension rod is hinged to the clamp rod and the rear sliding rod, the rear left and right linear drives are fixedly connected to the rear sliding rod and the rear connecting piece, and the lifting rod is synchronized It is hinged with the synchronous link, the rear link and the frame, the pitch linear drive is hinged with the frame and the rear link; the front lifting arm is hinged with the synchronous link and the frame; the lower link fixed at the front of the tong bar is connected with the upper The connecting piece is hinged, the upper connecting piece is hinged with the front suspension rod, the front suspension rod is hinged with the front sliding rod and the front and rear linear drivers, the front and rear linear drivers are hinged with the frame, the front left and right linear drivers are fixedly connected with the front sliding rod and the front lifting arm, and the lifting A linear drive is articulated to the front lift arm and frame. The invention optimizes the rear lifting structure, improves pitching driving force, and improves system stability and dynamic performance.
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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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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE1527331A1 (en) * | 1964-09-01 | 1969-06-26 | Hydraulik Gmbh | Manipulator for automatic forging |
| DE3021519A1 (en) * | 1980-06-07 | 1982-01-07 | Schloemann-Siemag AG, 4000 Düsseldorf | ARRANGEMENT OF A TRAVEL DRIVE ON A FORGING MANIPULATOR |
| DE3626090A1 (en) * | 1986-07-31 | 1988-02-11 | Hasenclever Maschf Sms | FORGING MANIPULATOR |
| CN101791674B (en) * | 2010-03-26 | 2011-09-14 | 燕山大学 | Lifting mechanism of forging manipulator |
| CN102019340B (en) * | 2010-11-15 | 2012-09-05 | 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 |
| CN103341584B (en) * | 2013-06-06 | 2015-06-10 | 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 |
| CN103537598B (en) * | 2013-09-23 | 2015-04-29 | 燕山大学 | Forging manipulator with optimized deflector |
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