CN106238649A - There is the heavily loaded forging operation machine people of redundancy feature - Google Patents
There is the heavily loaded forging operation machine people of redundancy feature Download PDFInfo
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- CN106238649A CN106238649A CN201610794660.0A CN201610794660A CN106238649A CN 106238649 A CN106238649 A CN 106238649A CN 201610794660 A CN201610794660 A CN 201610794660A CN 106238649 A CN106238649 A CN 106238649A
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- end matrix
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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 kind of heavily loaded forging operation machine people with redundancy feature.It includes redundancy elevating mechanism, clamp telescoping mechanism, clamp head part vertical plane rotating mechanism, upper end matrix horizontal rotation mechanism, lower end matrix travel mechanism and clamp work moment balanced controls, lower end matrix travel mechanism top is provided with upper end matrix horizontal rotation mechanism, upper end matrix horizontal rotation mechanism afterbody is provided with clamp work moment balanced controls, clamp work moment balanced controls front end is provided with clamp head part vertical plane rotating mechanism and clamp telescoping mechanism, and upper end matrix horizontal rotation mechanism is additionally provided with redundancy elevating mechanism.The present invention is provided that high clamp raised position precision and high clamp telescopic location precision, Dual-Servo Motor redundant drive can not only provide big lifting force simultaneously, but also the hydraulic-driven that current forging operation machine people uses can be overcome to promote system, the problem such as easily leak due to hydraulic oil that the raised position precision caused is low, environmental pollution, transmission efficiency are low.
Description
Technical field
The present invention relates to forging operation technical field, be specifically related to the heavily loaded forging operation machine people with redundancy feature.
Background technology
Along with the national economic development is increasingly faster with the speed of infrastructure construction, the domestic demand to hydraulic forging press is also
Increasing, and these free-forging hydraulics are all needed badly and are equipped with corresponding forging manipulator robot.Now with product
The propelling of industry, machine people is the most perfect in forging operation, but forging machine people's demand becomes variation, such as, require forging machine
Device people has high lifting positioning precision, the Telescopic of clamping mechanism, the flexible positioning precision of high clamping mechanism and entirety
The spinfunction etc. of mechanism.Therefore design and the manufacture of forging machine people becomes extremely important, and this is related to country's work
Industry level promotes.
Through the retrieval of existing document is found that number of patent application is 201210420626.9, the many hanger bar of entitled one
Combination type forging manipulator.It is all in retaining rail by the traveling of frame that this invention moves the gripping with workpiece by its complete machine
Realizing on road, this device is operated only along track, and for the workpiece about track and need to electric furnace to take
Workpiece, to workpiece accurate clamping obtain time, this needs clamp to have high lifting positioning precision and high flexible positioning accurate
Degree, the function of moment when also needing to level left and right revolute function simultaneously and balance clamp elongation work, this device can not be effective
Work.
In sum, the present invention devises a kind of heavily loaded forging operation machine people with redundancy feature.
Summary of the invention
For solving the problems referred to above, the invention provides the heavily loaded forging operation machine people with redundancy feature, be provided that height
Clamp raised position precision and high clamp telescopic location precision, Dual-Servo Motor redundant drive can not only provide big simultaneously
Lifting force, but also the hydraulic-driven that current forging operation machine people can be overcome to use promotes system, owing to hydraulic oil is easily let out
The problems such as the raised position precision that causes of leakage is low, environmental pollution, transmission efficiency are low.
For achieving the above object, the technical scheme that the present invention takes is: have the heavily loaded forging operation machine of redundancy feature
People, including redundancy elevating mechanism, clamp telescoping mechanism, clamp head part vertical plane rotating mechanism, upper end matrix horizontal rotation mechanism,
Lower end matrix travel mechanism and clamp work moment balanced controls, lower end matrix travel mechanism top is provided with upper end matrix level
Slew gear, upper end matrix horizontal rotation mechanism afterbody is provided with clamp work moment balanced controls, clamp work equalising torque
Device front end is provided with clamp head part vertical plane rotating mechanism and clamp telescoping mechanism, and upper end matrix horizontal rotation mechanism also sets
It is equipped with redundancy elevating mechanism.
Described redundancy elevating mechanism includes rear lifting beam, front lifting beam, clamp mobile foundation, front end lift arm, buffering
Protection set, pitching cylinder piston bar, pitching cylinder body, hydraulic buffer cylinder and two pairs of Redundant Lifting arms；Described lifting beam and rear lifting
The front end of beam connects front end lift arm and pitching cylinder body, front end lift arm and pitching cylinder body by bearing connecting clamp by bearing
Mobile foundation；Described pitching cylinder piston bar and pitching cylinder body coordinate composition pitching hydraulic cylinder, and buffer protection set is arranged on clamp
The bottom of mobile 7, base；Buffering hydraulic cylinder end is arranged on clamp mobile foundation, and buffering hydraulic cylinder head end is hinged on front end and carries
Rise on arm；Described Redundant Lifting arm includes that Redundant Lifting bar, redundancy double nut slide unit, redundant motor support shell, redundant electric
Motivation supports shell and fixes axle, drives motor, double lead-screw and coordination gear, and bearing and front lifting are passed through in described Redundant Lifting bar upper end
Beam connects, and Redundant Lifting bar lower end is welded and fixed with redundancy double nut slide unit；Described redundancy double nut slide unit is a hollow shell
Body, redundancy double nut slide unit and redundant motor support hull shape and become moving sets, and described redundant motor supports passes through axle bottom shell
Holding and fix axle connection with redundant motor support shell, described redundant motor support shell is fixed axle and is fixed on the matrix of upper end, institute
State driving motor to be provided with a pair, drive motor to be arranged in parallel at redundant motor and support shell inner bottom, drive motor respectively
Being connected with a leading screw, leading screw is connected with redundancy double nut slide unit by double nut, and double nut is solid with redundancy double nut slide unit
Determining together, described coordination gear is arranged at the bottom of the external bottom end of redundancy double nut slide unit, side-shifting hydraulic cylinder and clamp mobile foundation
Hydraulic means in the pitching cylinder piston bar connecting shaft in portion cooperates and realizes moving left and right of clamp matrix.
Described clamp telescoping mechanism include clamp connecting rod, clamp connect neck, clamp, buffer protection set, clamp matrix, can
Mobile ram, steering motor, front lift arm connecting shaft, turn to gear wheel, driver pinion, pitching cylinder piston bar connecting shaft,
Clamp mobile motor, clamp move double lead-screw and clamp is coordinated gear, described clamp and clamp matrix and connected neck even by clamp
Connecing, clamp matrix and mobile ram are bolted；Mobile ram is arranged on the guide rail of clamp mobile foundation, makes clamp even
Connecing neck, clamp, clamp matrix moves along guide rail on clamp mobile foundation；Described steering motor is fixed on the end of clamp matrix
End both sides, steering motor outfan is connected with driver pinion, and driver pinion engages with turning to gear wheel；Described front lift arm
Connecting shaft is arranged on the bottom of clamp mobile foundation, and pitching cylinder piston bar connecting shaft is arranged on clamp and moves the bottom of base,
And it is arranged on the rear side of buffer protection set；Described clamp mobile motor is provided with a pair, and clamp mobile motor is arranged on clamp and moves
The afterbody of motivation body；Described clamp moves double lead-screw one end and is respectively connected with clamp mobile motor, the other end and removable ram
Constitute screw pair；Described clamp is coordinated gear and is arranged at the end of removable ram, moves double lead-screw with clamp with feeling at ease simultaneously
Dress forms screw pair.
Described clamp head part vertical plane rotating mechanism includes that clamp steering spindle, clamp telescopic shaft and clamp stretch straight line horse
Reaching, described clamp stretches line motor and installs with to turn to gear wheel concentric, and clamp mobile motor is arranged in clamp mobile foundation
On portion's circular bottom part, described clamp steering spindle, clamp telescopic shaft, the clamp line motor that stretches is installed with one heart.
Described upper end matrix horizontal rotation mechanism includes lower end matrix, includes sprocket wheel, lower end base tooth wheel disc, upper end group
The little gear of body and upper end matrix horizontal rotation ring-shaped guide rail；Welding upper end, matrix top, described lower end matrix horizontal rotation annular is led
Rail, lower end base tooth wheel disc and upper end matrix horizontal rotation ring-shaped guide rail are installed with one heart, and matrix little gear in upper end is distributed on lower end
On base tooth wheel disc circumference, and it is fixedly mounted on the motor of upper end base bottom；Described sprocket wheel is arranged on lower end matrix two
Side.
Balance-conditioning system shown in described clamp work moment balanced controls, including upper end matrix, balance weight, balance weight
Piston rod and adjuster for balance block；Described upper end matrix afterbody is internally installed balance weight, and balance weight is arranged in the matrix of upper end
On the guide rail in portion, and being connected with balance weight piston rod, adjuster for balance block is connected with balance weight piston rod.
Described balance weight is arranged on intrinsic silicon centre position, upper end, wheel totally four be separately mounted to lower end matrix
Both sides；Upper end matrix is slidably connected with the formation of lower end matrix by upper end matrix horizontal rotation ring-shaped guide rail；Hydraulic power unit
Be fixed on the afterbody of upper end matrix by bolt, the end of front lifting beam and rear lifting beam is by the top of upper end matrix
Groove is fixed on the matrix of upper end, and chain wheel protective device is bolted matrix both sides, lower end.
The method have the advantages that heavy duty forging operation machine people is the mobile heavy duty operation of a kind of nine-degree of freedom
Robot, it is that the traveling by frame realizes on trapped orbit that its complete machine moves, and upper end matrix can carry out level
Gyration, uses servomotor and the work of hydraulic motor Dual Drive, can carry out large scale (4-5 according to job demand clamp
Rice) stretching motion, simultaneously can be around the rotation of 360 degree of claw beam axis, claw beam has elevating movement, elevating movement, little yardstick (0.2-
0.5 meter) before and after move and move left and right.The moment of the balance clamp elongation work of afterbody.Two lifting beams of this configuration
Being driven lifting arm to realize rise and fall by Dual-Servo Motor redundancy lowering or hoisting gear, clamp telescoping mechanism is also by Dual-Servo Motor redundancy
Driving and provide flexible power, so, they are provided that high clamp raised position precision and high clamp telescopic location precision, with
Time Dual-Servo Motor redundant drive big lifting force can not only be provided, but also current forging operation machine people can be overcome to use
Hydraulic-driven promote system, easily leak due to hydraulic oil that the raised position precision caused is low, environmental pollution, transmission efficiency are low
Problem.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of the present invention；
Fig. 2 is to promote system and clamp, the structural representation that clamp moves in the present invention；
Fig. 3 is the structural representation that in the present invention, clamp moves；
Fig. 4 is the rearview of the structure that clamp moves in the present invention；
Fig. 5 is the schematic diagram of lower end matrix in the present invention；
Fig. 6 is the sectional view of pincer system in the present invention；
Fig. 7 is the partial sectional view of upper end matrix in the present invention；
Fig. 8 is the left view of upper end matrix in the present invention；
Fig. 9 be in the present invention redundancy elevating mechanism at the partial view of upper end matrix；
Figure 10 is redundancy clamp telescoping mechanism oblique view in the present invention.
Detailed description of the invention
In order to make objects and advantages of the present invention clearer, below in conjunction with embodiment, the present invention is carried out further
Describe in detail.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not used to limit this
Bright.
As it is shown in figure 1, embodiments provide the heavily loaded forging operation machine people with redundancy feature, it is nine freedom
Degree device, nine-degree of freedom refers to nine independent motions, and it includes lower end matrix 1, sprocket wheel protective cover 2, upper end matrix 3, liquid
Pressure power device 4, rear lifting beam 5, front lifting beam 6, clamp mobile foundation 9, clamp connect neck 10, clamp 11, front end lift arm
12, lift cylinder piston rod 11, pitching cylinder body 18, upper end matrix horizontal rotation ring-shaped guide rail 34, wheel 38；Described lower end matrix
1 is moved on guide rail by wheel 38, and upper end matrix 3 is by upper end matrix horizontal rotation ring-shaped guide rail 34 and lower end matrix
1 formation is slidably connected.Hydraulic power unit 4 is fixed on the afterbody of upper end matrix 3 by bolt.Front lifting beam 6 and after carry
The end rising beam 5 is fixed on upper end matrix 3 by the groove at the top of upper end matrix 3, before lifting beam 6 and rear lifting beam 5
Hold and connect front end lift arm 12 and pitching cylinder body 18, front end lift arm 12 and pitching cylinder body 18 by bearing connection folder by bearing
Pincers mobile foundation.Clamp connects neck 10 and is connected to clamp 11 and clamp matrix 20.Chain wheel protective device 2 is bolted to lower end
Matrix 1 both sides.
As in figure 2 it is shown, described elevating mechanism includes that rear lifting beam 5, front lifting beam 6, side-shifting hydraulic cylinder 7, lifting beam move
Axle 8, clamp mobile foundation 9, clamp connect neck 10, clamp 11, front end lift arm 12, lift cylinder piston rod 11, pitching cylinder body 18,
Buffer protection set 16, pitching cylinder piston bar 17, pitching cylinder body 18, hydraulic buffer cylinder 19；Described lifting beam 6 and rear lifting beam 5
Front end connect front end lift arm 12 and pitching cylinder body 18, front end lift arm 12 and pitching cylinder body 18 by bearing even by bearing
Connect clamp mobile foundation 9.Described pitching cylinder piston bar 17 and pitching cylinder body 18 are formed to coordinate and constitute pitching hydraulic cylinder, and buffering is protected
Sheath 16 is arranged on clamp and moves the bottom of 7, base.Buffering hydraulic cylinder 19 end is arranged on clamp mobile foundation 9, and head end cuts with scissors
It is connected on front end lift arm 12.Sidesway hydraulic cylinder 7, the piston rod of side-shifting hydraulic cylinder 7 and lifting beam are installed in lifting beam both sides move
Moving axis 8 is connected.Lifting beam shifting axle 8, is arranged on the front end of front lifting beam 6.Bottom side-shifting hydraulic cylinder 7 and clamp mobile foundation 8
Pitching cylinder piston bar 17 connecting shaft 26 on hydraulic means cooperate and realize moving left and right of clamp matrix 20.
As it is shown on figure 3, described clamp equipment includes that clamp mobile foundation 9, clamp connect neck 10, clamp 11, delay
Punching protection set 16, clamp matrix 20, removable ram 21, steering motor 22, front lift arm connecting shaft 23, turn to gear wheel 24,
Driver pinion 25, pitching cylinder piston bar connecting shaft 26；
Described clamp connects neck 10 and is connected to clamp 11 and clamp matrix 20, and clamp matrix 20 passes through spiral shell with mobile ram 18
Tether and connect.Mobile ram 18 is arranged on the guide rail of clamp mobile foundation 9, makes clamp connect neck 10, clamp 11, clamp matrix 20
Clamp mobile foundation moves along guide rail.Described steering motor 22 is fixed on the end both sides of clamp matrix 20, outfan
Being connected with driver pinion 25, driver pinion 25 engages with turning to gear wheel 24.Described front lift arm connecting shaft 23 is arranged on
The bottom of clamp mobile foundation 9, pitching cylinder piston bar connecting shaft 26 is arranged on clamp and moves the bottom of base 7, protects in buffering
After sheath 13.
As shown in Figure 4, including turning to gear wheel 24, driver pinion 25, clamp to stretch line motor 29, clamp moves electricity
Machine 30.
Described installing with one heart to gear wheel 21 and the clamp line motor 29 that stretches, clamp mobile motor 30 is arranged on clamp and moves
On bottom moving base 9 inner annular.
As it is shown in figure 5, include lower end matrix 1, include sprocket wheel 31, lower end base tooth wheel disc 32, the little gear of upper end matrix 33,
Upper end matrix horizontal rotation ring-shaped guide rail 34；
Welding upper end, matrix top, described lower end matrix horizontal rotation ring-shaped guide rail 34, lower end base tooth wheel disc 32 and upper end
Matrix horizontal rotation ring-shaped guide rail 34 is installed with one heart, and the little gear of upper end matrix 33 is distributed on base tooth wheel disc 32 circumference of lower end,
And be fixedly mounted on the motor of upper end base bottom.Described sprocket wheel 31 is arranged on matrix both sides, lower end.
As shown in Figure 6, clamp steering spindle 27, clamp telescopic shaft 28, clamp stretch line motor 29；Clamp steering spindle 27 exists
The outside of clamp telescopic shaft 28.
Described clamp steering spindle 27, clamp telescopic shaft 28, the clamp line motor 29 that stretches is installed with one heart,
Balance-conditioning system as shown in Figure 7, adjusts including upper end matrix 3, balance weight 35, balance weight piston rod 36, balance weight
Joint device 37；
Described upper end matrix 3 afterbody is internally installed balance weight 35, and balance weight 35 is arranged on the guide rail within upper end matrix 3
On, and be connected with balance weight piston rod 36.Adjuster for balance block 37 is connected with balance weight piston rod 36.
As shown in Figure 8, including lower end matrix 1, upper end matrix 3, adjuster for balance block 37, wheel 38.
Described balance weight is arranged on upper end matrix 3 bosom position, wheel 38 totally four be separately mounted to lower end matrix 1
Both sides.
As it is shown in figure 9, include Redundant Lifting bar 13, redundancy double nut slide unit 17, redundant motor supports shell and fixes axle 39,
Drive motor 40, double lead-screw 41, coordinate gear 42, redundancy double nut slide unit guide rail 43.
Described Redundant Lifting bar 13 upper end is connected by bearing and front lifting beam 6, and Redundant Lifting bar 13 lower end is by welding
Fix with redundancy double nut slide unit 17.Described redundancy double nut slide unit 17 is a hollow shell, and redundancy double nut slide unit is led
Rail 43 forms moving sets.Described redundant motor supports and fixes axle 39 even by bearing and redundant motor support shell bottom shell 18
Connect.Described redundant motor support shell is fixed axle 39 and is fixed on upper end matrix 3.Described driving motor 40 is a pair, cloth arranged side by side
Putting and support shell 18 inner bottom in redundant motor, drive 40 respectively with one leading screws 41 of motor to be connected, leading screw 41 is by double spiral shells
Female constitute screw pair with redundancy double nut slide unit 17, wherein double nut fixing with redundancy double nut slide unit 17 together with.Described coordination
Gear is arranged at the external bottom end of redundancy double nut slide unit 17.Install the most concentric with double lead-screw 44 forms screw pair.
As shown in Figure 10, moving matrix 9 including clamp, removable ram 21, clamp mobile motor 30, clamp moves mariages
Thick stick 44, gear 45 coordinated by clamp.
Described clamp mobile motor 30 is a pair, is arranged on clamp and moves the afterbody of body 9.Described clamp moves double lead-screw
44 one end are respectively connected with clamp mobile motor 30, and the other end and removable ram 21 constitute screw pair.Tooth coordinated by described clamp
Wheel 45 is arranged at the end of removable slide unit, moves concentric installation of double lead-screw 44 simultaneously with clamp and forms screw pair.
In the present embodiment, it is as follows that process manually made by the heavily loaded forging operation machine that the present invention provides: whole equipment passes through
Chain-driving sprocket wheel 31 so that the wheel 38 on equipment is moved close to workpiece in orbit.After moving a certain distance, clamp
Mobile motor 30 drives clamp to move double lead-screw 44, promotes removable ram 21, promotes clamp matrix 20 to advance, makes clamp 11 arrive
Reach the vertical position of workpiece, rise or decline the front lifting beam 6 of regulation and the position of rear lifting beam 5 by Redundant Lifting bar 13
Drive front lift arm 10 and rear lift arm 12 control the position of the vertical direction of clamp, when making double lead-screw 41 due to certain error
When rotating asynchronous, coordinating gear 42 a pair can coordinate automatically, makes the identical i.e. redundancy double nut of two nut output speeds
Slide unit 17 two ends do not deflect, and asynchronous cause redundant motor to support shell 18 both sides unbalance stress to eliminate, improve the parts longevity
Life and work efficiency；When a certain driving motor in redundant drive for a certain reason breaks down and can not work, do not send out
Raw faulty motor still can rise by coordinating the effect actuation redundancy double nut slide unit 17 of gear 42 or decline, and simply drives
Ability reduces, but is unlikely to cause system jam because reversed load exists.Then turn to motor 22 work, drive actively
Little gear 25, drives and turns to gear wheel 24, make clamp turn to the most suitable clamp position of clamp 11, and clamp stretches line motor
29 drive clamp clamp telescopic shaft 24 to make clamp 7 open, and then make clamp 11 grip workpiece, and then clamp mobile motor 30 is received
Contracting, clamp matrix 20 drives clamp 11 to regain workpiece, and while the elongation of whole clamp and shortening, balance system is moved according to hydraulic pressure
The output situation of power apparatus 2 hydraulic oil judges the moment variations of blessing process, and then balance regulator 33 controls balance weight piston
The elongation of bar 32 is shunk and is controlled balance weight 31 position, realizes the balance of whole device.The sidesway liquid of lifting beam both sides simultaneously
Lifting beam shifting axle 8 before cylinder pressure 7 piston rod effect, lifting beam shifting axle 8 connects front end lift arm 12, front end lift arm 12 and and
Clamp mobile foundation 9 is connected, i.e. by the mobile realization of side-shifting hydraulic cylinder 7 to the fine setting to clamp mobile foundation 9 position.Then
Sprocket wheel 31 works on, and makes whole machine arrive next station, and matrix little gear 33 in upper end rotates and makes the little gear of upper end matrix
33 round lower end base tooth wheel disc 32 circular motion, thus drives upper end matrix 3 at upper end matrix horizontal rotation ring-shaped guide rail 34
On rotate, when rotate arrive workpiece direction after, the little gear of upper end matrix 33 stops the rotation.Then clamp mobile motor
30 promote clamp matrixes 20 advance, make clamp 11 arrive the vertical position of workpiece, risen by Redundant Lifting bar 13 or under
Falling tone saves the position of front lifting beam 6 and rear lifting beam 5 and drives front lift arm 10 and rear lift arm 12 to control the vertical side of clamp
To position, then turn to motor 22 and work, drive driver pinion 25, drive turn to gear wheel 24, make clamp turn to folder
Clamping 11 most suitable clamp positions, the clamp line motor 29 that stretches drives clamp clamp telescopic shaft 24 to make clamp 7 open, and then makes
Workpiece placed by clamp 11, and then clamp mobile motor 30 shrinks, and clamp matrix 20 drives clamp 11 to regain clamp 11, at whole folder
While pincers elongation and shortening, the output situation of balance system eradication hydraulic power unit 2 hydraulic oil judges the power of blessing process
Square change, and then balance regulator 33 control balance weight piston rod 32 elongation shrink control balance weight 31 position, realize
The balance of whole device.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (7)
1. there is the heavily loaded forging operation machine people of redundancy feature, it is characterised in that there is the heavily loaded forging operation of redundancy feature
Robot, including redundancy elevating mechanism, clamp telescoping mechanism, clamp head part vertical plane rotating mechanism, upper end matrix horizontal rotation
Mechanism, lower end matrix travel mechanism and clamp work moment balanced controls, lower end matrix travel mechanism top is provided with end group
Body horizontal rotation mechanism, upper end matrix horizontal rotation mechanism afterbody is provided with clamp work moment balanced controls, clamp operational forces
Square balanced controls front end is provided with clamp head part vertical plane rotating mechanism and clamp telescoping mechanism, upper end matrix horizontal rotation mechanism
On be additionally provided with redundancy elevating mechanism.
The heavily loaded forging operation machine people with redundancy feature the most according to claim 1, it is characterised in that described is superfluous
Remaining elevating mechanism includes rear lifting beam (5), front lifting beam (6), clamp mobile foundation (9), front end lift arm (12), buffer protection
Set (16), pitching cylinder piston bar (17), pitching cylinder body (18), hydraulic buffer cylinder (19) and two pairs of Redundant Lifting arms；Described carry
The front end rising beam (6) and rear lifting beam (5) connects front end lift arm (12) and pitching cylinder body (18), front end lift arm by bearing
And pitching cylinder body (18) is by bearing connecting clamp mobile foundation (9) (12)；Described pitching cylinder piston bar (17) and pitching cylinder
Body (18) coordinates composition pitching hydraulic cylinder, and buffer protection set (16) is arranged on clamp and moves the bottom of base (7) seat；Buffering hydraulic cylinder
(19) end is arranged on clamp mobile foundation (9), and buffering hydraulic cylinder (19) head end is hinged on front end lift arm (12)；Described
Redundant Lifting arm include Redundant Lifting bar (13), redundancy double nut slide unit (17), redundant motor support shell (18), redundant electric
Motivation supports shell and fixes axle (39), drive motor (40), double lead-screw (41) and coordinate gear (42), described Redundant Lifting bar (13)
Upper end is connected by bearing and front lifting beam (6), and Redundant Lifting bar (13) lower end is welded and fixed with redundancy double nut slide unit (17)；
Described redundancy double nut slide unit (17) is a hollow shell, and redundancy double nut slide unit (17) and redundant motor support shell (18)
Forming moving sets, described redundant motor supports shell (18) bottom and fixes axle (39) even by bearing and redundant motor support shell
Connecing, described redundant motor support shell is fixed axle (39) and is fixed on upper end matrix (3), and described driving motor (40) is provided with one
Right, drive motor (40) to be arranged in parallel at redundant motor and support shell (18) inner bottom, drive respectively with one, motor (40)
Leading screw (41) is connected, and leading screw (41) is connected with redundancy double nut slide unit (17) by double nut, and double nut and redundancy double nut
Slide unit (17) is fixing together, and described coordination gear (42) is arranged at the external bottom end of redundancy double nut slide unit (17), side-shifting hydraulic
Hydraulic means in pitching cylinder piston bar connecting shaft (26) of cylinder (7) and clamp mobile foundation (9) bottom cooperates realization
Moving left and right of clamp matrix (20).
The heavily loaded forging operation machine people with redundancy feature the most according to claim 1, it is characterised in that described folder
Pincers telescoping mechanism includes that clamp connecting rod (8), clamp connect neck (10), clamp (11), buffer protection set (16), clamp matrix
(20), may move ram (21), steering motor (22), front lift arm connecting shaft (23), turn to gear wheel (24), driver pinion
(25), pitching cylinder piston bar connecting shaft (26), clamp mobile motor (30), clamp move double lead-screw (44) and clamp coordination tooth
Wheel (45), described clamp (11) and clamp matrix (20) connect neck (10) by clamp and connect, and clamp matrix (20) and moving is slided
Pillow (18) is bolted；Mobile ram (18) is arranged on the guide rail of clamp mobile foundation (9), makes clamp connect neck
(10), clamp (11), clamp matrix (20) moves along guide rail on clamp mobile foundation；Described steering motor (22) is fixed on
The end both sides of clamp matrix (20), steering motor (22) outfan is connected with driver pinion (25), driver pinion (25)
Engage with turning to gear wheel (24)；Described front lift arm connecting shaft (23) is arranged on the bottom of clamp mobile foundation (9), pitching cylinder
Body piston rod connecting shaft (26) is arranged on clamp and moves the bottom of base (7), and is arranged on the rear side of buffer protection set (13)；Institute
Stating clamp mobile motor (30) to be provided with a pair, clamp mobile motor (30) is arranged on clamp and moves the afterbody of body (9)；Described
Clamp moves double lead-screw (44) one end and is respectively connected with clamp mobile motor (30), and the other end and removable ram (21) constitute spiral shell
Rotation pair；Described clamp is coordinated gear (45) and is arranged at the end of removable ram, moves double lead-screw (44) with clamp concentric simultaneously
Install and form screw pair.
The heavily loaded forging operation machine people with redundancy feature the most according to claim 1, it is characterised in that described folder
Clamp head part vertical plane rotating mechanism includes that clamp steering spindle (27), clamp telescopic shaft (28) and clamp stretch line motor (29),
Described clamp stretches line motor (29) and turns to that gear wheel (21) is concentric to be installed, and clamp mobile motor (30) is arranged on clamp and moves
On bottom moving base (9) inner annular, described clamp steering spindle (27), clamp telescopic shaft (28), clamp are stretched line motor
(29) install with one heart.
The heavily loaded forging operation machine people with redundancy feature the most according to claim 1, it is characterised in that described is upper
End group body horizontal rotation mechanism includes lower end matrix (1), includes that sprocket wheel (31), lower end base tooth wheel disc (32), upper end matrix are little
Gear (33) and upper end matrix horizontal rotation ring-shaped guide rail (34)；Welding upper end, matrix top, described lower end matrix horizontal rotation ring
Shape guide rail (34), lower end base tooth wheel disc (32) and upper end matrix horizontal rotation ring-shaped guide rail (34) are installed with one heart, upper end matrix
Little gear (33) is distributed on base tooth wheel disc (32) circumference of lower end, and is fixedly mounted on the motor of upper end base bottom；
Described sprocket wheel (31) is arranged on lower end matrix (1) both sides.
The heavily loaded forging operation machine people with redundancy feature the most according to claim 1, it is characterised in that described folder
Balance-conditioning system shown in equalising torque mechanism is made in pincers worker, including upper end matrix (3), balance weight (35), balance weight piston rod
And adjuster for balance block (37) (36)；Described upper end matrix (3) afterbody is internally installed balance weight (35), and balance weight (35) is installed
On the guide rail that upper end matrix (3) is internal, and being connected with balance weight piston rod (36), adjuster for balance block (37) and balance weight are lived
Stopper rod (36) is connected.
The heavily loaded forging operation machine people with redundancy feature the most according to claim 6, it is characterised in that described is flat
Weighing apparatus block (35) is arranged on upper end matrix (3) bosom position, wheel (38) totally four be separately mounted to lower end matrix (1) two
Side；Upper end matrix (3) is slidably connected with lower end matrix (1) formation by upper end matrix horizontal rotation ring-shaped guide rail (34)；Hydraulic pressure
Power set (4) are fixed on the afterbody of upper end matrix (3), front lifting beam (6) and the end of rear lifting beam (5) by bolt
Being fixed on upper end matrix (3) by the groove at the top of upper end matrix (3), chain wheel protective device (2) is bolted
Lower end matrix (1) both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610794660.0A CN106238649B (en) | 2016-08-31 | 2016-08-31 | Heavily loaded forging operation machine people with redundancy feature |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610794660.0A CN106238649B (en) | 2016-08-31 | 2016-08-31 | Heavily loaded forging operation machine people with redundancy feature |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106238649A true CN106238649A (en) | 2016-12-21 |
| CN106238649B CN106238649B (en) | 2019-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610794660.0A Expired - Fee Related CN106238649B (en) | 2016-08-31 | 2016-08-31 | Heavily loaded forging operation machine people with redundancy feature |
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| CN (1) | CN106238649B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107442733A (en) * | 2017-08-22 | 2017-12-08 | 山西晨辉锻压设备制造有限公司 | A kind of tong holder device of workpiece forging manipulator |
| CN108405782A (en) * | 2018-05-31 | 2018-08-17 | 福州大学 | A kind of small-sized efficient forging manipulator and its application method |
| CN109773805A (en) * | 2019-02-22 | 2019-05-21 | 中乌先楚核能科技有限公司 | Gripping mechanism for small space in nuclear power station water |
| CN111707387A (en) * | 2020-06-24 | 2020-09-25 | 广东韶钢松山股份有限公司 | Refining furnace temperature measuring gun lifting device and method |
| CN113560478A (en) * | 2021-08-10 | 2021-10-29 | 山东工业职业学院 | Steel material rudiment hammering stability clamping mechanism for steel rolling smelting |
| CN115847414A (en) * | 2022-12-08 | 2023-03-28 | 合肥工业大学 | Long-arm type nine-degree-of-freedom series mechanical arm and motion planning method thereof |
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| CN204770427U (en) * | 2015-05-31 | 2015-11-18 | 江苏一重数控机床有限公司 | Forge and press high -efficient heavily loaded work robot and go up connecting rod in same direction as antithetical couplet formula hoist mechanism |
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| JPS61216828A (en) * | 1985-03-22 | 1986-09-26 | Toyota Motor Corp | Handling machine |
| CN102303089A (en) * | 2011-09-30 | 2012-01-04 | 重庆大学 | Forging manipulator |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107442733A (en) * | 2017-08-22 | 2017-12-08 | 山西晨辉锻压设备制造有限公司 | A kind of tong holder device of workpiece forging manipulator |
| CN108405782A (en) * | 2018-05-31 | 2018-08-17 | 福州大学 | A kind of small-sized efficient forging manipulator and its application method |
| CN109773805A (en) * | 2019-02-22 | 2019-05-21 | 中乌先楚核能科技有限公司 | Gripping mechanism for small space in nuclear power station water |
| CN109773805B (en) * | 2019-02-22 | 2024-05-10 | 中乌先楚核能科技有限公司 | Clamp device for small space in water of nuclear power station |
| CN111707387A (en) * | 2020-06-24 | 2020-09-25 | 广东韶钢松山股份有限公司 | Refining furnace temperature measuring gun lifting device and method |
| CN111707387B (en) * | 2020-06-24 | 2022-06-10 | 广东韶钢松山股份有限公司 | Refining furnace temperature measuring gun lifting device and method |
| CN113560478A (en) * | 2021-08-10 | 2021-10-29 | 山东工业职业学院 | Steel material rudiment hammering stability clamping mechanism for steel rolling smelting |
| CN115847414A (en) * | 2022-12-08 | 2023-03-28 | 合肥工业大学 | Long-arm type nine-degree-of-freedom series mechanical arm and motion planning method thereof |
| CN115847414B (en) * | 2022-12-08 | 2024-06-25 | 合肥工业大学 | Long-arm nine-degree-of-freedom serial mechanical arm and motion planning method thereof |
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