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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- CN104325062B CN104325062B CN201410553366.1A CN201410553366A CN104325062B CN 104325062 B CN104325062 B CN 104325062B CN 201410553366 A CN201410553366 A CN 201410553366A CN 104325062 B CN104325062 B CN 104325062B
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
A kind of pitching linear actuator junctor posture forging manipulator, clamp and claw beam are hinged, rear suspension rods and claw beam and rear slide bar are hinged, rear left and right linear actuator and rear slide bar and rear connectors connect firmly, Synchronous lifting bar and synchronising (connecting) rod, rear connectors and frame are hinged, and pitching linear actuator and frame and rear connectors are hinged; Front lift arm and synchronising (connecting) rod and frame are hinged; Connect firmly at lower connector and the upper connector of claw beam front portion hinged, upper connector and front overhang peg are hinged, front overhang peg and front slide bar and front and back linear actuator are hinged, front and back linear actuator and frame are hinged, front left and right linear actuator and front slide bar and front lift arm connect firmly, and lifting linear actuator and front lift arm and frame are hinged. The present invention has optimized rear lift structure, has improved pitching driving force, has improved the stability of a system and dynamic property.
Description
Technical field the present invention relates to a kind of forging manipulator.
Background technology forging manipulator is one of secondary process equipment in forging and stamping weight equipment, is to improve forging and stamping lifeProduce the necessaries of efficiency and forging quality. Find the China that publication number is CN102019340A through retrievalPatent discloses a kind of forging manipulator, the two ends of its pitching linear actuator respectively with claw beam rear end and rear cunningBar connects, and is not connected with frame, makes pitching linear actuator in motion process, become load, can not be withA fixing point is supplied with stable power output, affects stability and the dynamic property of manipulator. Publication number isThe Chinese patent of CN202155463U discloses a kind of few coupled motions forging manipulator lifting mechanism, althoughBetween its claw beam rear end and rear slide bar, be connected to solid hopkinson bar, improved the stability of system, but its a pair of pitchingLinear actuator is coordinated to seesaw as synchronising (connecting) rod, because linear actuator belongs to compliant mechanism, thereforeIn the time bearing unbalance loading, both sides change inconsistent, have affected its synchronous effect. Publication number is CN103341584ADisclosed a kind of Linear lifting forging manipulator, its lifter motion is rectilinear motion completely, but its elevatorStructure complex structure, is difficult for installing, and the rear bar of coordinating can ceaselessly be subject to instantaneous impulse force in forging process simultaneously,Produce very large instantaneous torque and moment of flexure, because rear coordination bar is a rigid rod, therefore easily occur tired brokenGo bad and fracture.
Summary of the invention the object of the present invention is to provide a kind of simple in structure, stability is high, dynamic property is good bowsFace upward linear actuator junctor posture forging manipulator.
The present invention mainly comprises clamp rotation device, lifting device, elevation mount, front and back buffer unit and inclined to one sideTurn offset assembly. Described clamp rotation device comprises: claw beam and clamp; Described lifting device comprises: prerequisiteRise arm, rear suspension rods, lower connector, a pair of upper connector, a pair of front overhang peg, a pair of synchronising (connecting) rod,A pair of Synchronous lifting bar, a pair of rear connectors and a pair of lifting linear actuator; Described elevation mount comprises:Pitching linear actuator; Described front and back buffer unit comprises: a pair of front and back linear actuator; Described deflection is inclined to one sideMoving device comprises: a pair of front left and right linear actuator, a pair of rear left and right linear actuator.
Clamp rear end is connected with claw beam front end by turning joint, and this claw beam rear end is by ball pivot and rear suspension rodsOne end connect, the other end of this rear suspension rods is connected by the middle part of turning joint and rear slide bar, this rear slide barTwo ends connect firmly with one end of a pair of rear left and right linear actuator respectively, this pair of rear left and right linear actuatorThe other end connects firmly with one end of a pair of rear connectors respectively, and the other end of this pair of rear connectors is respectively by multipleClose turning joint and be connected with one end of a pair of synchronising (connecting) rod and one end of a pair of Synchronous lifting bar, this is a pair of synchronousThe other end of lifting arm is respectively by one end of composite rotation hinge and frame and a pair of pitching linear actuatorConnect, the other end of this pair of pitching linear actuator is by one of turning joint and above-mentioned a pair of rear connectorsEnd connects; The other end of above-mentioned a pair of synchronising (connecting) rod is respectively by one of turning joint and a pair of front lift armPosition connects, and another part of this pair of front lift arm is connected with frame by turning joint respectively; Above-mentioned claw beamConnect firmly near a position of clamp and the middle part of lower connector, the two ends of this lower connector respectively by ball pivot andOne end of a pair of upper connector connects, and the other end of this pair of upper connector is respectively by turning joint and a pair ofOne end of front overhang peg connects, and the turning joint axis of above-mentioned connection upper connector and front overhang peg all meets at positionIn the vertical vertical line at clamp place, the other end of above-mentioned a pair of front overhang peg is respectively by turning joint and front slide barConnect, the two ends of this front slide bar connect firmly with one end of a pair of front left and right linear actuator respectively, this pair of front leftThe other end of right linear actuator connects firmly with one end of above-mentioned a pair of front lift arm respectively, this pair of front lift armThe other end be connected with one end of a pair of lifting linear actuator by ball pivot respectively, this pair of lifting straight line drivesThe other end of moving device is connected with frame by ball pivot respectively; One position of above-mentioned a pair of front overhang peg is passed through respectivelyBall pivot is connected with one end of a pair of front and back linear actuator, and the other end of this pair of front and back linear actuator respectivelyBe connected with frame by ball pivot.
The elevating movement process of forging manipulator of the present invention: a pair of lifting linear actuator promotes a pair of front liftingArm, drives a pair of front overhang peg, a pair of upper connector, lower connector, and claw beam front end is moved up and down,Drive a pair of Synchronous lifting bar to rotate around frame by a pair of synchronising (connecting) rod simultaneously, so by rear connectors andRear suspension rods drives claw beam rear end to move up and down, thereby drives claw beam to move up and down. Process seesaws:A pair of front and back linear actuator promotes a pair of front overhang peg, drives a pair of upper connector and lower connector to do front and backBack and forth movement, and then drive claw beam and clamp to seesaw. Elevating movement process: pitching linear actuatorDrive rear suspension rods, thereby drive claw beam to do upper and lower elevating movement. Deflection and offset movement process: front left and rightBefore linear actuator promotes, slide bar moves, and drives a pair of front overhang peg, a pair of upper connector to move, and then bandMoving claw beam front end transverse shifting, after rear left and right linear actuator promotes, slide bar moves, and drives rear suspension rods to move,And then drive claw beam rear end transverse shifting, thereby make claw beam realize transverse shifting; When front left and right linear actuatorKeep static, slide bar after rear left and right linear actuator drives, drives claw beam around clamp center by rear suspension rodsRotate, realize claw beam yaw motion. Clamp rotary course: by driving Shi Qirao rear end, clamp rear end hingeAxis rotates.
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, can both be fixing with onePoint carries out stable power output to mechanism, and the instantaneous impulse force being subject to for system, has the straight of certain flexibilityThe buffering reaction force acts that line drive all can bring the instantaneous impulse force of direction of primary motion, on frame, is kept awayExempt to bear this power by other rigid rods, bring fatigue rupture and fracture, therefore effectively improved systemStability and dynamic property.
2, replace rear lift arm of the prior art with Synchronous lifting bar and rear connectors, effectively alleviatedThe weight of rear lift portion, has reduced the reaction force of rear lift portion frame revolute pair, thereby has increased literThe bearing capacity of system in process is fallen.
3, in deflection motion, do not exist and owe to input phenomenon, can be due to not existing in the process of carrying out deflectionHave in the forward mounting part in technology, to have redundancy skew free degree structure and cause that skew do not carry out deflection,Thereby the stability that has strengthened motion, has improved forging quality.
Brief description of the drawings
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
In figure: linear drives before and after connector, 3-claw beam, 4-lifting linear actuator, 5-under 1-clamp, 2-Slide bar, 9-frame, 10-rear connectors, 11-after device, 6-rear suspension rods, 7-pitching linear actuator, 8-Left and right linear actuator, 13-synchronising (connecting) rod, 14-front lift arm, 15-front left and right after Synchronous lifting bar, 12-Slide bar, 17-front overhang peg, 18-upper connector before 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, folderClamp 1 rear end and be connected with claw beam 3 front ends by turning joint, this claw beam rear end is by ball pivot and rear suspension rods 6One end connect, the other end of this rear suspension rods is connected with rear slide bar 8 middle parts by turning joint, this rear cunningThe two ends of bar connect firmly with one end of a pair of rear left and right linear actuator 12 respectively, and this pair of rear left and right straight line drivesThe other end of moving device connects firmly with one end of a pair of rear connectors 10 respectively, the other end of this pair of rear connectorsRespectively by composite rotation hinge and one end of a pair of synchronising (connecting) rod 13 and one end of a pair of Synchronous lifting bar 11Connect, the other end of this pair of Synchronous lifting bar is respectively by composite rotation hinge and frame 9 and a pair of pitchingOne end of linear actuator 7 connects, and the other end of this pair of pitching linear actuator passes through respectively turning jointBe connected with one end of above-mentioned a pair of rear connectors; The other end of above-mentioned a pair of synchronising (connecting) rod passes through respectively rotating hingeChain is connected with a position of a pair of front lift arm 14, and another part of this pair of front lift arm is respectively by turningMoving hinge is connected with frame; Above-mentioned claw beam connects firmly near a position of clamp and the middle part of lower connector 2, shouldThe two ends of lower connector are connected with one end of a pair of upper connector 18 by ball pivot respectively, this pair of upper connectionThe other end of part is connected with one end of a pair of front overhang peg 17 by turning joint respectively, in above-mentioned connection, connectsThe turning joint axis of part and front overhang peg all meets at the vertical vertical line that is positioned at clamp place, above-mentioned a pair of forward mountingThe other end of bar is connected with front slide bar 16 by turning joint respectively, and the two ends of this front slide bar are respectively with a pair ofOne end of front left and right linear actuator 15 connects firmly, the other end of this pair of front left and right linear actuator respectively withOne end of above-mentioned a pair of front lift arm connects firmly, and the other end of this pair of front lift arm is respectively by ball pivot and a pair ofOne end of lifting linear actuator 4 connects, and the other end of this pair of lifting linear actuator passes through respectively ball pivotBe connected with frame; One position of above-mentioned a pair of front overhang peg is respectively by ball pivot and a pair of front and back linear actuatorOne end of 5 connects, and the other end of this pair of front and back linear actuator is connected with frame by ball pivot respectively.
A kind of pitching linear actuator junctor posture forging manipulator, clamp and claw beam are hinged, rear suspension rodsHinged with claw beam and rear slide bar, rear left and right linear actuator and rear slide bar and rear connectors connect firmly, Synchronous liftingBar and synchronising (connecting) rod, rear connectors and frame are hinged, and pitching linear actuator and frame and rear connectors are hinged;Front lift arm and synchronising (connecting) rod and frame are hinged; Connect firmly lower connector and upper connector hinge in claw beam front portionConnect, upper connector and front overhang peg are hinged, and front overhang peg and front slide bar and front and back linear actuator are hinged, frontRear linear actuator and frame are hinged, and front left and right linear actuator and front slide bar and front lift arm connect firmly, liftingLinear actuator and front lift arm and frame are hinged. The present invention has optimized rear lift structure, has improved pitching and has drivenPower, has improved the stability of a system and dynamic property.
Claims (1)
1. a pitching linear actuator junctor posture forging manipulator, is characterized in that: clamp rear end is logicalCross turning joint and be connected with claw beam front end, this claw beam rear end is connected with one end of rear suspension rods by ball pivot, shouldThe other end of rear suspension rods is connected with rear slide bar middle part by turning joint, and the two ends of this rear slide bar are respectively with oneOne end to rear left and right linear actuator connects firmly, and the other end of this pair of rear left and right linear actuator is respectively with oneOne end to rear connectors connects firmly, and the other end of this pair of rear connectors is respectively by composite rotation hinge andOne end of synchronising (connecting) rod is connected to the other end of this pair of Synchronous lifting bar with one end of a pair of Synchronous lifting barBe connected respectively this pair of pitching with one end of frame and a pair of pitching linear actuator by composite rotation hingeThe other end of linear actuator is connected with one end of above-mentioned a pair of rear connectors by turning joint; Above-mentioned a pair ofThe other end of synchronising (connecting) rod is connected with a position of a pair of front lift arm by turning joint respectively, before this is a pair ofAnother part of lift arm is connected with frame by turning joint respectively; Above-mentioned claw beam is near a position of clampConnect firmly with the middle part of lower connector, the two ends of this lower connector are respectively by one of ball pivot and a pair of upper connectorEnd connects, and the other end of this pair of upper connector connects by one end of turning joint and a pair of front overhang peg respectivelyConnect, the turning joint axis of above-mentioned connection upper connector and front overhang peg all meets at and is positioned at vertically hanging down of clamp placeLine, the other end of above-mentioned a pair of front overhang peg is connected with front slide bar by turning joint respectively, this front slide barTwo ends connect firmly with one end of a pair of front left and right linear actuator respectively, this pair of front left and right linear actuator anotherOne end connects firmly with one end of above-mentioned a pair of front lift arm respectively, and the other end of this pair of front lift arm passes through respectivelyBall pivot is connected with one end of a pair of lifting linear actuator, and the other end of this pair of lifting linear actuator respectivelyBe connected with frame by ball pivot; One position of above-mentioned a pair of front overhang peg is straight by ball pivot and a pair of front and back respectivelyOne end of line drive connects, and the other end of this pair of front and back linear actuator connects by ball pivot and frame respectivelyConnect.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN104325062A CN104325062A (en) | 2015-02-04 |
| CN104325062B true 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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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105033147B (en) * | 2015-07-27 | 2017-08-29 | 燕山大学 | A kind of rear-mounted forging manipulator of pitching linear actuator |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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2014
- 2014-10-17 CN CN201410553366.1A patent/CN104325062B/en not_active Expired - Fee Related
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