CN109047617B - Parallel lifting mechanism for clamp of forging manipulator - Google Patents
Parallel lifting mechanism for clamp of forging manipulator Download PDFInfo
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- CN109047617B CN109047617B CN201810919498.XA CN201810919498A CN109047617B CN 109047617 B CN109047617 B CN 109047617B CN 201810919498 A CN201810919498 A CN 201810919498A CN 109047617 B CN109047617 B CN 109047617B
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- seat
- fixedly connected
- clamp
- transmission
- connecting rod
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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 parallel lifting mechanism of a forging manipulator clamp, which comprises a clamp, an operation rack, a flange plate, a clamp arm, a lifting seat, a first fixed seat, a sliding groove body, a first connecting rod, a connecting block, a first connecting shaft, a pin shaft, an oil cylinder, a rotating seat, a base, a second connecting shaft, a connecting frame, a second connecting rod, a second fixed seat, a guide seat, a transmission device, a guide groove, a cross beam, a motor and a transmission rod, wherein the clamp arm is connected with the first connecting rod; the invention has reasonable and simple structure, the parallel four-bar mechanism directly drives the clamp to move up and down in parallel, thus not only having high lifting efficiency, but also greatly improving the range of parallel lifting of the clamp.
Description
The technical field is as follows:
the invention relates to a parallel lifting mechanism, in particular to a parallel lifting mechanism of a clamp of a forging manipulator.
Background art:
the forging manipulator is one of important devices for realizing the mechanization and automation of forging in a forging workshop, and is matched with a forging hydraulic press for use, so that the quality and the production efficiency of a forged piece are improved. The existing forging manipulator is divided into a trackless forging manipulator, a track forging manipulator and the like. The rail-guided forging manipulator is arranged beside a forging hydraulic press, and the moving range and the service forging equipment are determined. The trackless forging manipulator has a large moving range and good maneuverability, can serve a plurality of forging devices, and a driver console is arranged on the forging manipulator, so that a forge piece can be operated, and the transportation work of a forging workshop can be carried out; the parallel lifting range of the parallel lifting mechanism of the clamp of the existing forging manipulator is smaller, and in addition, the clamp can not perform accurate rotary motion in the lifting process, so that the forging work efficiency and the quality of a forged product are greatly reduced.
The invention content is as follows:
the invention aims to solve the problems that the parallel lifting range of the existing parallel lifting mechanism of the clamp of the forging manipulator is relatively small, and in addition, the clamp cannot perform accurate rotary motion in the lifting process, so that the forging work efficiency and the quality of a forged product are greatly reduced.
In order to solve the above problems, the present invention provides a technical solution: the utility model provides a parallel elevating system of forging manipulator tong, includes clamp and operation frame, and its innovation point lies in: the clamping device comprises a clamping arm, a lifting seat, a first fixed seat, a sliding groove body, a first connecting rod, a connecting block, a first connecting shaft, a pin shaft, an oil cylinder, a rotating seat, a base, a second connecting shaft, a connecting frame, a second connecting rod, a second fixed seat, a guide seat, a transmission device, a guide groove, a cross beam, a motor and a transmission rod; the bottom of the base is fixedly connected to the upper surface of the operation rack, and the right side of the base is fixedly connected with a connecting frame; the lower side of the first connecting rod is movably connected to the upper left side of the base through a first connecting shaft, and the upper side of the first connecting rod is hinged to the lower side of the fixed seat; the right upper side of the connecting block is fixedly connected to the left lower side of the first connecting rod, and the lower side of the connecting block is hinged to the left side of the oil cylinder through a pin shaft; the right end of the oil cylinder is fixedly connected with the left end of the rotating seat; the rotating seat is movably connected to the center inside the base; the top surface of the fixed seat is fixedly connected to the left side of the bottom of the lifting seat; the lower side of the second connecting rod is movably connected to the upper right side of the base through a second connecting shaft, and the upper side of the second connecting rod is hinged to the lower side of the second fixing seat; the top surface of the second fixed seat is fixedly connected to the right side of the bottom of the lifting seat; a sliding groove body is arranged in the lifting seat, and a clamping arm is movably connected in the left and right side holes of the lifting seat; the left end of the clamp arm is fixedly connected with a flange plate; the left side of the flange plate is fixedly connected with a clamp; the bottom of the guide seat is fixedly connected to the left side of the upper surface of the base, a guide groove is vertically arranged in the guide seat, and the guide seat is positioned in the chute body; a transmission device is vertically and movably connected in the guide groove; the transmission device is movably connected left and right relative to the sliding chute body, the vertical input end of the transmission device is connected with the transmission rod, and the left output shaft end of the transmission device is fixedly connected with the right end of the clamping arm; the transmission rod is movably connected inside the guide groove, and the top end of the transmission rod is fixedly connected to the output shaft end of the lower side of the motor; the motor is fixedly connected to the left upper side of the cross beam; the left lower side of the cross beam is fixedly connected with the top of the guide seat, and the right lower side of the cross beam is fixedly connected with the top of the connecting frame.
Preferably, the first connecting rod and the second connecting rod have the same length.
Preferably, the distance between the first fixing seat and the second fixing seat is equal to the distance between the first connecting shaft and the second connecting shaft.
Preferably, the motor is a stepping motor.
Preferably, the transmission rod is a spline shaft.
Preferably, the transmission device specifically comprises a transmission seat, a spline shaft sleeve, a transmission cavity, a driving gear, a driven gear, an output shaft and a sliding block; a transmission cavity is arranged in the transmission seat; a spline shaft sleeve is movably connected in the transmission cavity; the inside of the spline shaft sleeve is connected with a transmission rod; the driving gear is movably connected inside the transmission cavity, the inside of the driving gear is fixedly connected to the spline shaft sleeve, and the driving gear is connected with the driven gear; the center of the left side of the driven gear is fixedly connected to the right end of the output shaft; the output shaft is movably connected in the center hole of the sliding block, and the left end of the output shaft is fixedly connected with the right end of the clamping arm; the right side of the sliding block is fixedly connected with the left side of the transmission seat.
Preferably, the driving gear and the driven gear are both bevel gears.
Preferably, the slider specifically comprises a rectangular parallelepiped and a communicating hole; the center of the cuboid is provided with a communication hole.
The invention has the beneficial effects that: the invention has the advantages of reasonable and simple structure, low production cost and convenient installation, the parallel four-bar mechanism directly drives the clamp to move up and down in parallel, thus the lifting efficiency is high, and simultaneously the parallel lifting range of the clamp is greatly improved.
Description of the drawings:
for ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the transmission.
Fig. 3 is a schematic structural diagram of a slider.
1-clamping; 2-a flange plate; 3-a clamp arm; 4-a lifting seat; 5-fixing the first base; 6-chute body; 7-connecting rod one; 8-connecting blocks; 9-connecting the shaft I; 10-operating the frame; 11-a pin shaft; 12-oil cylinder; 13-a rotating base; 14-a base; 15-connecting the shaft II; 16-a connecting frame; 17-link two; 18-a second fixed seat; 19-a guide seat; 20-a transmission; 21-a guide groove; 22-a cross beam; 23-a motor; 24-a transmission rod; 201-a transmission seat; 202-spline shaft sleeve; 203-a transmission cavity; 204-a drive gear; 205-driven gear; 206-an output shaft; 207-a slide block; 2071-cuboid; 2072-communicating holes.
The specific implementation mode is as follows:
as shown in fig. 1, the following technical solutions are adopted in the present embodiment: a parallel lifting mechanism of a forging manipulator clamp comprises a clamp 1, an operation rack 10, a flange plate 2, a clamp arm 3, a lifting seat 4, a first fixed seat 5, a sliding groove body 6, a first connecting rod 7, a connecting block 8, a first connecting shaft 9, a pin shaft 11, an oil cylinder 12, a rotating seat 13, a base 14, a second connecting shaft 15, a connecting frame 16, a second connecting rod 17, a second fixed seat 18, a guide seat 19, a transmission device 20, a guide groove 21, a cross beam 22, a motor 23 and a transmission rod 24; the bottom of the base 14 is fixedly connected to the upper surface of the operation rack 10, and the right side of the base 14 is fixedly connected with a connecting frame 16; the lower side of the first connecting rod 7 is movably connected to the upper left side of the base 14 through a first connecting shaft 9, and the upper side of the first connecting rod 7 is hinged to the lower side of the first fixing seat 5; the upper right side of the connecting block 8 is fixedly connected to the lower left side of the first connecting rod 7, and the lower side of the connecting block 8 is hinged to the left side of the oil cylinder 12 through a pin shaft 11; the right end of the oil cylinder 12 is fixedly connected with the left end of the rotating seat 13; the rotating seat 13 is movably connected to the center inside the base 14; the top surface of the first fixed seat 5 is fixedly connected to the left side of the bottom of the lifting seat 4; the lower side of the second connecting rod 17 is movably connected to the upper right side of the base 14 through a second connecting shaft 15, and the upper side of the second connecting rod 17 is hinged to the lower side of the second fixing seat 18; the top surface of the second fixed seat 18 is fixedly connected to the right side of the bottom of the lifting seat 4; a sliding chute body 6 is arranged in the lifting seat 4, and a clamping arm 3 is movably connected in the left-right direction in a left side hole of the lifting seat 4; the left end of the clamp arm 3 is fixedly connected with a flange plate 2; the clamp 1 is fixedly connected to the left side of the flange plate 2; the bottom of the guide seat 19 is fixedly connected to the left side of the upper surface of the base 14, a guide groove 21 is vertically arranged in the guide seat 19, and the guide seat 19 is positioned in the chute body 6; the guide groove 21 is vertically and movably connected with a transmission device 20; the transmission device 20 is movably connected left and right relative to the chute body 6, the vertical input end of the transmission device 20 is connected with the transmission rod 24, and the left output shaft end of the transmission device 20 is fixedly connected with the right end of the clamp arm 3; the transmission rod 24 is movably connected inside the guide groove 21, and the top end of the transmission rod 24 is fixedly connected to the output shaft end of the lower side of the motor 23; the motor 23 is fixedly connected to the left upper side of the cross beam 22; the left lower side of the cross beam 22 is fixedly connected with the top of the guide seat 19, and the right lower side of the cross beam 22 is fixedly connected with the top of the connecting frame 16.
The length of the first connecting rod 7 is the same as that of the second connecting rod 17; the distance between the first fixing seat 5 and the second fixing seat 18 is equal to the distance between the first connecting shaft 9 and the second connecting shaft 15; the motor 23 is a stepping motor; the transmission rod 24 is a spline shaft.
As shown in fig. 2, the transmission device 20 specifically includes a transmission base 201, a spline shaft sleeve 202, a transmission cavity 203, a driving gear 204, a driven gear 205, an output shaft 206 and a sliding block 207; a transmission cavity 203 is arranged in the transmission seat 201; a spline shaft sleeve 202 is movably connected in the transmission cavity 203; the inside of the spline shaft sleeve 202 is connected with the transmission rod 24; the driving gear 204 is movably connected inside the transmission cavity 203, the driving gear 204 is fixedly connected to the spline shaft sleeve 202, and the driving gear 204 is connected with the driven gear 205; the left center of the driven gear 205 is fixedly connected to the right end of the output shaft 206; the output shaft 206 is movably connected in a central hole of the sliding block 207, and the left end of the output shaft 206 is fixedly connected with the right end of the clamping arm 3; the right side of the sliding block 207 is fixedly connected with the left side of the transmission seat 201.
The driving gear 204 and the driven gear 205 are both bevel gears.
As shown in fig. 3, the slider 207 specifically includes a rectangular parallelepiped 2071 and a communication hole 2072; a communication hole 2072 is formed in the center of the rectangular parallelepiped 2071.
The using state of the invention is as follows: the invention has the advantages of reasonable and simple structure, low production cost and convenient installation, the parallel four-bar mechanism directly drives the clamp 1 to move up and down in parallel, thus the lifting efficiency is high, and simultaneously the parallel lifting range of the clamp 1 is greatly improved, the transmission device 20 arranged in the invention can only move up and down in the guide groove 21 and move left and right in the chute body 6, thereby ensuring that the transmission device 20 can move up and down in parallel along with the clamp 1, and ensuring that the transmission device 20 can transmit the power of the transmission rod 24 to the clamp 1 to perform accurate rotary motion, thereby greatly improving the forging work efficiency and the quality of forged products.
While there have been shown and described what are at present considered to be the fundamental principles of the invention and its essential features and advantages, it will be understood by those skilled in the art that the invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (6)
1. The utility model provides a forge parallel elevating system of manipulator tong, includes clamp (1) and operation frame (10), its characterized in that: the clamping device is characterized by also comprising a flange plate (2), a clamping arm (3), a lifting seat (4), a first fixed seat (5), a sliding chute body (6), a first connecting rod (7), a connecting block (8), a first connecting shaft (9), a pin shaft (11), an oil cylinder (12), a rotating seat (13), a base (14), a second connecting shaft (15), a connecting frame (16), a second connecting rod (17), a second fixed seat (18), a guide seat (19), a transmission device (20), a guide groove (21), a cross beam (22), a motor (23) and a transmission rod (24);
the bottom of the base (14) is fixedly connected to the upper surface of the operation rack (10), and the right side of the base (14) is fixedly connected with a connecting frame (16);
the lower side of the first connecting rod (7) is movably connected to the upper left side of the base (14) through a first connecting shaft (9), and the upper side of the first connecting rod (7) is hinged to the lower side of the first fixing seat (5);
the upper right side of the connecting block (8) is fixedly connected to the lower left side of the connecting rod I (7), and the lower side of the connecting block (8) is hinged to the left side of the oil cylinder (12) through a pin shaft (11);
the right end of the oil cylinder (12) is fixedly connected with the left end of the rotating seat (13);
the rotating seat (13) is movably connected to the center inside the base (14);
the top surface of the first fixed seat (5) is fixedly connected to the left side of the bottom of the lifting seat (4);
the lower side of the second connecting rod (17) is movably connected to the right upper side of the base (14) through a second connecting shaft (15), and the upper side of the second connecting rod (17) is hinged to the lower side of the second fixing seat (18);
the top surface of the second fixed seat (18) is fixedly connected to the right side of the bottom of the lifting seat (4);
a sliding groove body (6) is arranged in the lifting seat (4), and a clamping arm (3) is movably connected in the left-right hole of the lifting seat (4) left and right;
the left end of the clamp arm (3) is fixedly connected with a flange plate (2);
the clamp (1) is fixedly connected to the left side of the flange plate (2);
the bottom of the guide seat (19) is fixedly connected to the left side of the upper surface of the base (14), a guide groove (21) is vertically arranged in the guide seat (19), and the guide seat (19) is positioned in the chute body (6);
a transmission device (20) is vertically and movably connected in the guide groove (21);
the transmission device (20) is movably connected with the left and right sides of the sliding chute body (6), the vertical input end of the transmission device (20) is connected with the transmission rod (24), and the left output shaft end of the transmission device (20) is fixedly connected with the right end of the clamp arm (3);
the transmission rod (24) is movably connected inside the guide groove (21), and the top end of the transmission rod (24) is fixedly connected to the output shaft end of the lower side of the motor (23);
the motor (23) is fixedly connected to the left upper side of the cross beam (22);
the left lower side of the cross beam (22) is fixedly connected with the top of the guide seat (19), and the right lower side of the cross beam (22) is fixedly connected with the top of the connecting frame (16);
the transmission rod (24) is a spline shaft;
the transmission device (20) specifically comprises a transmission seat (201), a spline shaft sleeve (202), a transmission cavity (203), a driving gear (204), a driven gear (205), an output shaft (206) and a sliding block (207);
a transmission cavity (203) is arranged in the transmission seat (201);
a spline shaft sleeve (202) is movably connected in the transmission cavity (203);
the inside of the spline shaft sleeve (202) is connected with a transmission rod (24);
the driving gear (204) is movably connected inside the transmission cavity (203), the driving gear (204) is fixedly connected to the spline shaft sleeve (202) inside, and the driving gear (204) is connected with the driven gear (205);
the left center of the driven gear (205) is fixedly connected to the right end of the output shaft (206);
the output shaft (206) is movably connected in a central hole of the sliding block (207), and the left end of the output shaft (206) is fixedly connected with the right end of the clamp arm (3);
the right side of the sliding block (207) is fixedly connected with the left side of the transmission seat (201).
2. The parallel lifting mechanism of the clamp of the forging manipulator as claimed in claim 1, wherein: the length of the first connecting rod (7) is the same as that of the second connecting rod (17).
3. The parallel lifting mechanism of the clamp of the forging manipulator as claimed in claim 1, wherein: and the distance between the first fixing seat (5) and the second fixing seat (18) is equal to the distance between the first connecting shaft (9) and the second connecting shaft (15).
4. The parallel lifting mechanism of the clamp of the forging manipulator as claimed in claim 1, wherein: the motor (23) is a stepping motor.
5. The parallel lifting mechanism of the clamp of the forging manipulator as claimed in claim 1, wherein: the driving gear (204) and the driven gear (205) are both bevel gears.
6. The parallel lifting mechanism of the clamp of the forging manipulator as claimed in claim 1, wherein: the sliding block (207) specifically comprises a cuboid (2071) and a communication hole (2072);
the center of the cuboid (2071) is provided with a communication hole (2072).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810919498.XA CN109047617B (en) | 2018-08-14 | 2018-08-14 | Parallel lifting mechanism for clamp of forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810919498.XA CN109047617B (en) | 2018-08-14 | 2018-08-14 | Parallel lifting mechanism for clamp of forging manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109047617A CN109047617A (en) | 2018-12-21 |
| CN109047617B true CN109047617B (en) | 2020-07-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810919498.XA Active CN109047617B (en) | 2018-08-14 | 2018-08-14 | Parallel lifting mechanism for clamp of forging manipulator |
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| CN (1) | CN109047617B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113003128A (en) * | 2021-03-29 | 2021-06-22 | 浙江鸿盛新材料科技集团股份有限公司 | Get yarn and floor truck |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3831184A1 (en) * | 1987-09-18 | 1989-04-06 | Hasenclever Maschf Sms | Integrated control for a manipulator, and open-die forging press interacting with the latter and a manipulator with a measuring device for this purpose |
| DE3942942C1 (en) * | 1989-12-23 | 1991-06-20 | Eumuco Aktiengesellschaft Fuer Maschinenbau, 5090 Leverkusen, De | |
| DE4132220A1 (en) * | 1991-09-27 | 1993-04-01 | Pahnke Eng Gmbh & Co Kg | Hydraulically actuated forging press - has a workpiece manipulator which is synchronised with movement of press ram |
| CN107470536A (en) * | 2017-09-28 | 2017-12-15 | 山西晨辉锻压设备制造有限公司 | One kind forging dress reclaimer binding clip rotating device |
| CN108213309A (en) * | 2017-12-29 | 2018-06-29 | 合肥信比欣新材料有限公司 | A kind of turnover environment-friendly materials production forging apparatus |
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2018
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| CN109047617A (en) | 2018-12-21 |
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Effective date of registration: 20200608 Address after: No. 88, Dongsan Road, Nanbin street, Ruian City, Wenzhou City, Zhejiang Province 325200 Applicant after: ZHEJIANG LIANDA FORGING Co.,Ltd. Address before: Shinan District 266000 Shandong city of Qingdao province Hualian Road 1, building 9, 203 households Applicant before: Qian Hao |
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