CN108213307B - Lifting mechanism of buffer device centralized forging manipulator - Google Patents
Lifting mechanism of buffer device centralized forging manipulator Download PDFInfo
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- CN108213307B CN108213307B CN201611131466.0A CN201611131466A CN108213307B CN 108213307 B CN108213307 B CN 108213307B CN 201611131466 A CN201611131466 A CN 201611131466A CN 108213307 B CN108213307 B CN 108213307B
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- 239000000872 buffer Substances 0.000 title claims abstract description 63
- 238000005242 forging Methods 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 239000000725 suspension Substances 0.000 claims abstract description 49
- 230000003139 buffering effect Effects 0.000 claims description 15
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims 2
- 210000001503 joint Anatomy 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 12
- 230000001360 synchronised effect Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Classifications
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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)
- Manipulator (AREA)
- Forging (AREA)
Abstract
The invention discloses a lifting mechanism of a buffer device centralized forging manipulator, which comprises a clamping device, a lifting device, a swinging device, a front and rear buffer device, a left and right buffer device and a rack, wherein the swinging device is arranged at the upper part of the lifting device, a clamp rod is arranged at the bottom of the lifting device, the front ends of front and rear buffer linear drivers are connected with the middle part of a front suspension rod, the rear ends of the front and rear buffer linear drivers are connected with a support at the middle part of the clamp rod, and the front left and right buffer linear drivers are arranged at the middle parts of two front suspension rods. The front end of the pitching linear driver is connected to the middle part of the rear sliding rod, and the rear end of the pitching linear driver is connected to the frame of the cart, so that the integral bearing capacity of the forging manipulator is greatly improved, and the pitching linear driver is suitable for the forging operation of large-tonnage forgings.
Description
Technical Field
The invention relates to a lifting mechanism, in particular to a lifting mechanism of a buffer device centralized forging manipulator.
Background
The forging manipulator is mechanical equipment used for clamping steel ingots or blanks to perform forging operation and auxiliary operation, and plays a vital role in improving the production efficiency and the quality of forgings. Generally, a forging manipulator needs to realize seven forging operation functions including jaw clamping, jaw rod rotating, jaw rod lifting, jaw rod pitching, jaw rod side moving, jaw rod side swinging, cart walking and the like. The three actions of jaw clamping, jaw rod rotating and cart walking are structurally independent from each other and are respectively driven by a motor or a hydraulic cylinder independently, the clamping and rotating functions of the workpiece are realized by the clamp, the cart bears the walking function, and the rest actions are realized by the lifting mechanism. The front and rear buffer devices of the large-tonnage forging manipulator which is widely used at present are independently dispersed in the middle of the forging manipulator, so that the rigidity of the whole forging manipulator is improved. The left and right buffering devices of the forging manipulator are connected between the front support and the front sliding rod through the moving frame, and the pitching motion of the clamp rod of the forging manipulator can be realized. Chinese patents No. CN101879571A, CN101791674A, and CN102728764A all use this structure, but the center of gravity of the forging manipulator is biased to the front end, and placing the front and rear cushion devices in the middle causes a reduction in efficiency, and the left and right cushion devices are connected by the moving frame, which reduces the rigidity of the entire left and right cushion mechanisms, and also has a problem of difficulty in installation.
Disclosure of Invention
The present invention is directed to a lifting mechanism of a centralized forging manipulator for a buffering device, so as to solve the problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme:
a lifting mechanism of a buffer device centralized forging manipulator comprises a clamping device, a lifting device, a swinging device, a front buffer device, a rear buffer device, a left buffer device, a right buffer device and a frame, wherein the swinging device is arranged at the upper part of the lifting device, a clamping bar is arranged at the bottom of the lifting device, the front ends of the front buffer device and the rear buffer device are connected with the middle part of a front suspension bar, the rear ends of the front buffer device and the rear buffer device are connected with a support at the middle part of the clamping bar, the front left buffer device and the right buffer device are arranged at the middle parts of the two front suspension bars, the rear left buffer device and the rear buffer device are connected between the rear ends of the two front buffer devices and the rear buffer device, the rear ends of a clamp of the clamping device are connected with the front ends of the clamping bar through a moving pair, the front part of the clamping bar is connected with a front supporting bar and a rear supporting bar which are, the upper ends of the two front suspension rods are respectively connected to the lower ends of the two front connecting pieces through rotating hinges, the upper ends of the two front connecting pieces are respectively connected to two sides of the front sliding rod through rotating hinges, two sides of the front sliding rod are respectively and fixedly connected with a front left linear driver and a front right linear driver, the two linear drivers are respectively connected with one end of a front lifting arm, the other end of the front lifting arm is respectively connected with the rack through rotating hinges, the front lifting arms are an upper lifting arm and a lower lifting arm, the lower arm is connected with the upper ends of the lifting linear drivers through spherical hinges, and the lower ends of the drivers are respectively connected to two sides of the rack; the upper end of the front lifting arm is connected with the front end of a parallel synchronizing rod through a spherical hinge respectively, and the rear end of the synchronizing rod is connected with the upper end of the rear lifting arm through a spherical hinge respectively; the lower extreme of claw beam rear bracket both ends through ball pivot and back suspension rod is connected respectively, the lower extreme of back suspension rod is through rotating hinged joint at the rear connecting piece in the upper end of back suspension rod, two rear connecting pieces are respectively through rotating hinged joint in the both sides of back slide bar, linear actuator about respectively one back of each fixed connection in the both sides of back slide bar, these two drivers respectively link to each other with back lifting arm one end, the other end of back lifting arm links to each other with the frame through rotating the hinge respectively, the middle part position at back slide bar is connected through rotating hinged joint to the front end of every single move linear actuator, the rear end of every single move linear actuator passes through the ball pivot and connects in the frame.
As a further scheme of the invention: the front connecting pieces connected with the two front suspension rods and the rotating hinge axes connected with the rear connecting pieces of the rear suspension rods are arranged in the front-back horizontal direction, and the other rotating hinges are arranged in the left-right horizontal direction.
As a further scheme of the invention: two lift linear actuator, two preceding suspension poles, two back suspension poles, two preceding connecting pieces, two back connecting pieces and two synchronizing bar bilateral symmetry arrange.
As a further scheme of the invention: the front and rear cushion devices include: the front ends of the two front and rear buffering linear drivers are connected to the middle parts of the two front suspension rods through spherical hinges, the rear ends of the two front and rear buffering linear drivers are connected to the support at the middle part of the clamp rod through spherical hinges, the surface where the support is located is perpendicular to the clamp rod, and the height of the support where the support is located is just the same as the height of the middle point of the front suspension rod.
As a further scheme of the invention: the left and right buffering devices include: the left and right buffer linear drivers are symmetrically arranged left and right, the front and rear ends of the front left and right buffer linear drivers are fixedly connected to the middle part of the front suspension rod respectively, and the front and rear ends of the rear left and right buffer linear drivers are fixedly connected to the support in the middle part of the jaw rod respectively.
As a further scheme of the invention: the clamp rod is connected with the front support through the sliding pair, and the clamp rod can move back and forth through the sliding pair.
As a further scheme of the invention: the front end of the pitching linear driver is connected with the middle part of the rear supporting rod through a rotating hinge, and the rear end of the pitching linear driver is connected with the support through a spherical hinge.
Compared with the prior art, the invention has the beneficial effects that: the buffer device of the manipulator is arranged at the front part of the clamp rod in a centralized way, so that the buffer effect of the forging manipulator is improved, and the forging stability of the forging manipulator is greatly improved. The front end of the pitching linear driver is connected to the middle part of the rear sliding rod, and the rear end of the pitching linear driver is connected to the frame of the cart, so that the integral bearing capacity of the forging manipulator is greatly improved, and the pitching linear driver is suitable for the forging operation of large-tonnage forgings.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
In the figure, 1-a lamp box, 1, a rear lifting arm, 2, a rear sliding rod, 3, a rear left-right linear driver, 4, a synchronizing rod, 5, a frame, 6, a front lifting arm, 7, a front sliding rod, 8, a front left-right linear driver, 9, a front connecting piece, 10, a left-right buffering linear driver, 11, a front suspension rod, 12, a moving pair, 13, a front supporting rod, 14, a clamp rod, 15, a front-rear buffering linear driver, 16, a lifting linear driver, 17, a rear suspension rod, 18, a rear connecting piece, 19, a rear supporting rod, 20 and a pitching linear floating device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, in the embodiment of the present invention, a lifting mechanism of a buffer centralized forging manipulator comprises a clamping device, a lifting device, a swinging device, a front and rear buffer device, a left and right buffer device and a frame 5, wherein the swinging device is installed on the upper portion of the lifting device, a clamp rod 14 is installed at the bottom of the lifting device, the front ends of the front and rear buffer linear actuators 15 are connected to the middle portion of a front suspension rod 11, the rear ends of the front and rear buffer linear actuators 15 are connected to a support at the middle portion of the clamp rod 14, a front left and right buffer linear actuator 8 is installed at the middle portion of two front suspension rods 11, the rear left and right buffer device is connected between the rear ends of the two front and rear buffer devices, the rear end of a clamp of the clamping device is connected to the front end of the clamp rod 14 through a moving pair 12, the front portion of the clamp rod 14 is connected to a front support rod 13 through a moving pair 12, the front portion and the rear portion of the, the two ends of a front supporting rod 13 are respectively connected with the lower ends of two front suspension rods 11 through spherical hinges, the upper ends of the two front suspension rods 11 are respectively connected with the lower ends of two front connecting pieces 9 through rotating hinges, the upper ends of the two front connecting pieces 9 are respectively connected with the two sides of a front sliding rod 7 through rotating hinges, the two sides of the front sliding rod 7 are respectively and fixedly connected with a front left linear driver 8 and a front right linear driver 8, the two linear drivers are respectively connected with one end of a front lifting arm 6, the other end of the front lifting arm 6 is respectively connected with a rack 5 through rotating hinges, the front lifting arm 6 is an upper part and a lower part, a lower arm part is connected with the upper end of a lifting linear driver 16 through a spherical hinge, and the lower ends of the drivers are respectively connected; the upper end of the front lifting arm 6 is respectively connected with the front ends of the parallel synchronous rods 4 through spherical hinges, and the rear ends of the synchronous rods 4 are respectively connected with the upper end of the rear lifting arm 1 through spherical hinges; the rear support both ends of the claw beam 14 are connected with the lower end of the rear suspension rod 17 through spherical hinges respectively, the upper end of the rear suspension rod 17 is connected with the lower end of the rear connecting piece 18 through a rotating hinge, the two rear connecting pieces 18 are connected with the two sides of the rear sliding rod 2 through rotating hinges respectively, the linear driver 3 is controlled after each of the two sides of the rear sliding rod 2 is fixedly connected with one, the two drivers are connected with one end of the rear lifting arm 1 respectively, the other end of the rear lifting arm 1 is connected with the rack 5 through a rotating hinge respectively, the front end of the pitching linear driver 20 is connected with the middle position of the rear sliding rod through a rotating hinge, and the rear end of the pitching linear driver 20 is connected with the rack through.
The axes of the rotation hinges connecting the front connecting pieces of the two front suspension rods 11 and the rear connecting pieces of the rear suspension rods 17 are arranged in the front-rear horizontal direction, and the axes of the other rotation hinges are arranged in the left-right horizontal direction.
Two lifting linear drivers 16, two front suspension rods 11, two rear suspension rods 17, two front connecting pieces 9, two rear connecting pieces 18 and two synchronizing rods are arranged in bilateral symmetry.
The front and rear cushion devices include: the front and rear buffer linear drivers 15 are symmetrical left and right, the front ends of the front and rear buffer linear drivers are connected to the middle parts of the two front suspension rods 11 through spherical hinges, the rear ends of the front and rear buffer linear drivers are connected to the support 5 in the middle parts of the clamp rods through spherical hinges, the surface where the support 5 is located is perpendicular to the clamp rods 14, and the height of the support 5 where the support 5 is located is just the same as the height of the middle point of the front suspension rods 11.
The left and right buffering devices include: two left and right buffer linear drivers 3 are symmetrically arranged left and right, the front end and the rear end of the front left and right buffer linear driver are respectively and fixedly connected with the middle part of the front suspension rod, and the front end and the rear end of the rear left and right buffer linear driver are respectively and fixedly connected with the support in the middle part of the jaw rod.
The clamp rod 14 is connected with the front bracket 5 through the moving pair 12, and the clamp rod 14 can move back and forth through the moving pair 12.
The pitch linear actuator 20 has a front end connected to the middle of the rear pole 19 by a rotational hinge and a rear end connected to the bracket 5 by a spherical hinge.
The working principle of the invention is as follows: the forging manipulator is independently used for completing the motions respectively. During the lifting movement, the two lifting linear drivers 16 push the front lifting arm 6 to drive the front sliding rod 7 and the two front connecting pieces 9 to further drive the two front suspension rods 11 to perform vertical synchronous movement, and simultaneously, the two synchronization rods which keep the original length drive the rear lifting arm 1 to drive the rear lifting arm 1 and the rear connecting pieces to further drive the rear suspension rods 11 to perform vertical synchronous movement, so that the clamp rod 14 is driven to perform vertical lifting movement. During the pitching motion, a pitching linear driver 20 pushes the rear slide bar 2, and pushes the rear slide bar 2 to drive the rear suspension bar 17, so as to drive the clamp bar 14 to perform the pitching motion. The traversing and swinging movements are performed by the front left and right linear actuators 15 and the rear left and right linear actuators 3. The front left and right linear drivers 15 push the front sliding rod 7 to move to drive the two front connecting pieces 9 and the two front suspension rods 11, the front part of the clamp rod 14 drives the clamp rod 14 to move transversely, the rear left and right linear drivers 3 push the rear sliding rod 2 to move to drive the rear connecting piece 18 and the rear suspension rod 17, and the rear part of the clamp rod 14 drives the clamp rod 14 to move transversely; the driving directions of the front driver and the rear driver are the same and the sizes of the drivers are the same, the clamp rod 14 realizes the transverse movement; the front linear driver, the rear linear driver and the left linear driver are opposite in driving direction or different in driving quantity, and the clamp rods swing. In the starting acceleration and stopping deceleration stages of the large vehicle and the forging process of the large forge piece, the clamping lever 14 performs proper buffering motion on front and back sudden change external force through the telescopic motion of the two front and back buffering linear drivers 15. When the axial force applied to the left and right buffer linear drivers by the transverse sudden external force applied to the caliper bar reaches the preset value of the driver, the left and right buffer linear drivers 10 can effectively buffer the transverse sudden external force.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a centralized forging manipulator hoist mechanism of buffer, including clamping device, hoisting device, the pendulum moves the device, front and back buffer, control buffer and frame, the pendulum moves the device and installs the upper portion at hoisting device, the bottom at hoisting device is installed to the tong pole, the front end of front and back buffering linear actuator is connected in the front middle part that hangs the pole, the back end of front and back buffering linear actuator and the leg joint at tong pole middle part, the preceding left and right buffering linear actuator is installed at two preceding suspension pole middle parts, buffer connects between two front and back buffer rear ends about the back, its characterized in that: the rear end of a clamp of the clamping device is connected with the front end of a clamp rod through a moving pair, the front part of the clamp rod is connected with a front suspension rod through the moving pair, the front part and the rear part of the clamp rod, connected with a lifting device, of the clamp are provided with a front support rod and a rear support rod which are vertically connected with the clamp rod, the two ends of the front suspension rod are respectively connected with the lower ends of two front suspension rods through spherical hinges, the upper ends of the two front suspension rods are respectively connected with the lower ends of two front connecting pieces through rotating hinges, the upper ends of the two front connecting pieces are respectively connected with the two sides of a front sliding rod through the rotating hinges, the two sides of the front sliding rod are respectively and fixedly connected with a front left linear driver and a right linear driver, the two front left linear drivers and the right linear drivers are respectively connected with one end of a front lifting arm, the other end of the front lifting arm is, the lower end of the lifting linear driver is respectively connected to the two sides of the rack through spherical hinges; the upper end of the front lifting arm is connected with the front end of a parallel synchronizing rod through a spherical hinge respectively, and the rear end of the synchronizing rod is connected with the upper end of the rear lifting arm through a spherical hinge respectively; the lower extreme of claw beam rear bracket both ends through ball pivot and back suspension rod is connected respectively, the lower extreme at back connecting piece is connected through rotating the hinged joint in the upper end of back suspension rod, two back connecting pieces are respectively through rotating the both sides of hinged joint back slide bar, linear actuator about respectively one back of each fixed connection in the both sides of back slide bar, the actuator about respectively links to each other with back lifting arm one end after these two, the other end of back lifting arm links to each other with the frame through rotating the hinge respectively, the middle part position at back slide bar is connected through rotating the hinged joint in the front end of every single move linear actuator, the rear end of every single move linear actuator passes through the ball pivot and connects in the frame.
2. The lifting mechanism of a buffer centralized forging manipulator as claimed in claim 1, wherein the axes of the rotary hinges connecting the front connecting members of the two front suspension rods and the rear connecting members of the rear suspension rods are horizontally arranged in the front-rear direction, and the axes of the remaining rotary hinges are horizontally arranged in the left-right direction.
3. The lifting mechanism of a buffer centralized forging manipulator of claim 1, wherein the two lifting linear drivers, the two front suspension rods, the two rear suspension rods, the two front connecting pieces, the two rear connecting pieces and the two synchronizing rods are arranged in bilateral symmetry.
4. The buffer centralized forging manipulator elevating mechanism of claim 1, wherein the front and rear buffers comprise: the front ends of the two front and rear buffering linear drivers are connected to the middle parts of the two front suspension rods through spherical hinges, the rear ends of the two front and rear buffering linear drivers are connected to the support at the middle part of the clamp rod through spherical hinges, the surface where the support is located is perpendicular to the clamp rod, and the height where the support is located is just the same as the height of the middle point of the front suspension rod.
5. The buffer centralized forging manipulator elevating mechanism of claim 1, wherein the left and right buffers comprise: the left and right buffer linear drivers are symmetrically arranged left and right, the front end and the rear end of the front left and right buffer linear drivers are fixedly connected to the middle of the front suspension rod respectively, and the front end and the rear end of the rear left and right buffer linear drivers are fixedly connected to the support in the middle of the jaw rod respectively.
6. The lifting mechanism of a buffer centralized forging manipulator as claimed in claim 1, wherein the clamp lever is connected to the front bracket through a moving pair, and the clamp lever can move back and forth through the moving pair.
7. The lifting mechanism of a buffer centralized forging manipulator as claimed in claim 1, wherein the front end of the linear pitch actuator is connected to the middle of the rear support rod by a rotational hinge, and the rear end of the linear pitch actuator is connected to the bracket by a spherical hinge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611131466.0A CN108213307B (en) | 2016-12-09 | 2016-12-09 | Lifting mechanism of buffer device centralized forging manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611131466.0A CN108213307B (en) | 2016-12-09 | 2016-12-09 | Lifting mechanism of buffer device centralized forging manipulator |
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| Publication Number | Publication Date |
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| CN108213307A CN108213307A (en) | 2018-06-29 |
| CN108213307B true CN108213307B (en) | 2020-05-08 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN103537605A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers |
| CN103706748A (en) * | 2013-09-23 | 2014-04-09 | 燕山大学 | Lifting mechanism of asymmetric-type forging operator of prostrate linear actuator |
| CN103909198A (en) * | 2014-04-15 | 2014-07-09 | 燕山大学 | Large-scale forging manipulator mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206509466U (en) * | 2016-12-09 | 2017-09-22 | 南京工业大学 | Lifting mechanism of buffer device centralized forging manipulator |
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- 2016-12-09 CN CN201611131466.0A patent/CN108213307B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102728764A (en) * | 2012-06-05 | 2012-10-17 | 燕山大学 | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator |
| CN103537605A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Parallel connecting rod type forging manipulator lifting mechanism with two pitching linear drivers |
| CN103706748A (en) * | 2013-09-23 | 2014-04-09 | 燕山大学 | Lifting mechanism of asymmetric-type forging operator of prostrate linear actuator |
| CN103909198A (en) * | 2014-04-15 | 2014-07-09 | 燕山大学 | Large-scale forging manipulator mechanism |
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| CN108213307A (en) | 2018-06-29 |
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