CN201969824U - Driving mechanism of forging manipulator - Google Patents
Driving mechanism of forging manipulator Download PDFInfo
- Publication number
- CN201969824U CN201969824U CN201020673629XU CN201020673629U CN201969824U CN 201969824 U CN201969824 U CN 201969824U CN 201020673629X U CN201020673629X U CN 201020673629XU CN 201020673629 U CN201020673629 U CN 201020673629U CN 201969824 U CN201969824 U CN 201969824U
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- China
- Prior art keywords
- bar
- hinged
- machinery hand
- forging machinery
- rod
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- Expired - Fee Related
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Abstract
The utility model discloses a driving mechanism of a forging manipulator. A rod I, a rod II, a rod III and a rod IV are sequentially hinged to form a hinge four-rod mechanism; inclined driving power is hinged on the rack body of the driving mechanism of the forging manipulator; a power output end is hinged with the rod III; lifting driving power is hinged on the rack body of the driving mechanism of the forging manipulator, and the power output end is hinged with the rod IV; and the forging manipulator is fixed on the rod I. The forging manipulator can move along any path within certain range; the hinge four-rod mechanism has great bearing capability, small space occupation, small limitation on the position of a pressed machine and a heating furnace, and large installation position room and is flexible to use. An oil cylinder serves as driving power, so that the driving mechanism has great driving force and simple structure, is reliable to work and is convenient to operate. A parallelogram mechanism is easier to control the forging manipulator to move.
Description
Technical field
The utility model relates to the forging machinery hand, is a kind of forging machinery hand-drive linkage concretely.
Background technology
Tradition forging machinery hand lifting and inclination are used forklift door frame and are realized, need with two plunger case control liftings, and two piston cylinder controls are tilted, and forging machinery hand integral body moves along the door frame centering guide.Lifting and leaning device bearing capacity are low; Oil cylinder quantity is many, stroke is big, and operation is difficulty relatively; It is big to take up room, and mechanism installs and limited by press and heating furnace position.
The utility model content
The utility model will solve the lifting of traditional forging machinery hand and the leaning device bearing capacity is low, oil cylinder quantity is many, stroke is big, operation is difficulty relatively, it is big to take up room, installation is subjected to the technical problem of press and the restriction of heating furnace position, provides a kind of bearing capacity big, uses flexibly, it is little to take up room, the forging machinery hand-drive mechanism that leeway, installation site is big.
In order to solve the problems of the technologies described above, the technical scheme that the utility model is taked is: a kind of forging machinery hand-drive mechanism, the hinged successively composition four-bar linkage of bar I, bar II, bar III and bar IV; Pitch drives power is hinged on the support body of forging machinery hand-drive mechanism, and clutch end and bar III are hinged; Lifting drives power and is hinged on the support body of forging machinery hand-drive mechanism, and clutch end and bar IV are hinged; The forging machinery hand is fixed on the bar I.
Hinged lifting drives the bar IV of power, two ends be respectively hinged pitch drives power bar III with fixedly connected the bar I of forging machinery hand.When pitch drives power is not worked, when lifting drove dynamically working, four bars became double rocker mechanism, and bar III is a frame, and bar IV is a drive crank, and bar II is driven rocking bar, and bar I is a connecting rod; Bar IV rotates around itself and bar III hinge, and under the drive of bar IV, the forging machinery hand on the bar I is done elevating movement, drives dynamic Control forging machinery hand height and position by lifting.Do not work when lifting drives power, during the pitch drives dynamically working, four bars become double rocker mechanism, and bar IV is a frame, and bar III is a drive crank, and bar I is driven rocking bar, and bar II is a connecting rod; Bar I rotates around itself and bar IV hinge, and the forging machinery hand on the bar I is made banking motion, by pitch drives dynamic Control forging machinery hand angle of inclination.Pitch drives power and lifting drive the power cooperating, and the forging machinery hand is done the motion of free routing within the specific limits.The four-bar linkage bearing capacity is big, uses flexibly, and it is little to take up room, and is subjected to the restriction of press and heating furnace position little, and leeway, installation site is big.
Pitch drives power is the dump ram that makes forging machinery hand banking motion, and cylinder body is hinged on the support body of forging machinery hand-drive mechanism, and cylinder bar and bar III are hinged; It is the hoist cylinder that makes the elevating movement of forging machinery hand that lifting drives power, and cylinder body is hinged on the support body of forging machinery hand-drive mechanism, and cylinder bar and bar IV are hinged.Oil cylinder is as driving power, and driving force is big, and is simple in structure, and reliable operation is easy to operate.
The four-bar linkage of bar I, bar II, bar III and bar IV hinge is a parallel-crank mechanism.Parallel-crank mechanism is more prone to the motion control of forging machinery hand.
Connect by oscillating bearing between the bar of four-bar linkage.Adopting the benefit of oscillating bearing is that the bar hinged place goes slick, and the energy bearing bar rocks the side force of generation.
The utility model has the advantages that: the pitch drives power of four-bar linkage and lifting drive the power cooperating, and the forging machinery hand is done the motion of free routing within the specific limits.The four-bar linkage bearing capacity is big, uses flexibly, and it is little to take up room, and is subjected to the restriction of press and heating furnace position little, and leeway, installation site is big.Oil cylinder is as driving power, and driving force is big, and is simple in structure, and reliable operation is easy to operate.Parallel-crank mechanism, easier to the control of forging machinery hands movement.
Description of drawings
The structural representation of an embodiment of the utility model.
The specific embodiment
Four-bar linkage is a parallel-crank mechanism among the figure, bar I 7 and bar III16 equal in length and parallel, and bar II 10 and bar IV4 equal in length and parallel, bar I 7, bar II 10, bar III16 and bar IV4 are hinged successively.The forging machinery hand is fixed on the bar I 7.Have between four bars of parallel-crank mechanism to connect hinge 5 between bar, adjacent bar connects by oscillating bearing 3.The pitch drives power of present embodiment is the dump ram 13 that makes forging machinery hand banking motion, and its cylinder body is hinged on the support body of forging machinery hand-drive mechanism, and cylinder bar and bar III16 are hinged; It is the hoist cylinder 1 that makes the elevating movement of forging machinery hand that lifting drives power, and its cylinder body is hinged on the support body of forging machinery hand-drive mechanism, and cylinder bar and bar IV4 are hinged.Have oil cylinder to be connected hinge 2 between dump ram 13 and the bar III16, dump ram 13 is connected by oscillating bearing 3 with bar III16; Have oil cylinder to be connected hinge 2 between hoist cylinder 1 and the bar IV4, hoist cylinder 1 is connected by oscillating bearing 3 with bar IV4.
When dump ram 13 is not worked, during hoist cylinder 1 work, four bars become double rocker mechanism, and bar III16 is a frame, and bar IV4 is a drive crank, and bar II 10 is driven rocking bars, and bar I 7 is connecting rods; When dump ram 13 is not worked, during the no bar cylinder oil-feed of hoist cylinder 1, forging machinery hand integral body moves upward with bar I 7; When hoist cylinder 1 had the oil-feed of bar cylinder, forging machinery hand integral body moved downward with bar I 7.Control the height and position of forging machinery hand integral body according to the size of hoist cylinder 1 stroke.When hoist cylinder 1 is not worked, during dump ram 13 work, four bars become double rocker mechanism, and bar IV4 is a frame, and bar III16 is a drive crank, and bar I 7 is driven rocking bars, and bar II 10 is connecting rods; When hoist cylinder 1 is not worked, during the no bar cylinder oil-feed of dump ram 13, forging machinery hand integral body is with bar I 7 motion of leaning forward, and when hoist cylinder 1 is not worked, when dump ram 13 had the oil-feed of bar cylinder, forging machinery hand integral body was done the hypsokinesis campaign with bar I 7.Angle of inclination according to the size control forging machinery hand integral body of the stroke of dump ram 13.Dump ram 13 and hoist cylinder 1 cooperating, the forging machinery hand is done the motion of free routing within the specific limits.The four-bar linkage bearing capacity is big, uses flexibly, and it is little to take up room, and is subjected to the restriction of press and heating furnace position little, and leeway, installation site is big.
Claims (4)
1. a forging machinery hand-drive mechanism is characterized in that bar I (7), bar II (10), bar III (16) and the hinged successively composition four-bar linkage of bar IV (4); Pitch drives power is hinged on the support body of forging machinery hand-drive mechanism, and clutch end and bar III (16) are hinged; Lifting drives power and is hinged on the support body of forging machinery hand-drive mechanism, and clutch end and bar IV (4) are hinged; The forging machinery hand is fixed on the bar I (7).
2. forging machinery hand-drive according to claim 1 mechanism is characterized in that pitch drives power is the dump ram (13) that makes forging machinery hand banking motion, and cylinder body is hinged on the support body of forging machinery hand-drive mechanism, and cylinder bar and bar III (16) are hinged; It is the hoist cylinder (1) that makes the elevating movement of forging machinery hand that lifting drives power, and cylinder body is hinged on the support body of forging machinery hand-drive mechanism, and cylinder bar and bar IV (4) are hinged.
3. forging machinery hand-drive according to claim 1 mechanism is characterized in that the four-bar linkage of bar I (7), bar II (10), bar III (16) and bar IV (4) hinge is a parallel-crank mechanism.
4. forging machinery hand-drive according to claim 1 mechanism is characterized in that being connected by oscillating bearing (3) between the bar of four-bar linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020673629XU CN201969824U (en) | 2010-12-22 | 2010-12-22 | Driving mechanism of forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020673629XU CN201969824U (en) | 2010-12-22 | 2010-12-22 | Driving mechanism of forging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201969824U true CN201969824U (en) | 2011-09-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201020673629XU Expired - Fee Related CN201969824U (en) | 2010-12-22 | 2010-12-22 | Driving mechanism of forging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201969824U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114020091A (en) * | 2021-09-28 | 2022-02-08 | 浙江钱塘机器人及智能装备研究有限公司 | Lever control operating rod mechanism |
-
2010
- 2010-12-22 CN CN201020673629XU patent/CN201969824U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114020091A (en) * | 2021-09-28 | 2022-02-08 | 浙江钱塘机器人及智能装备研究有限公司 | Lever control operating rod mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110914 Termination date: 20131222 |