CN202155463U - Lifting mechanism of forging operation machine with little coupling movement - Google Patents
Lifting mechanism of forging operation machine with little coupling movement Download PDFInfo
- Publication number
- CN202155463U CN202155463U CN2011202410572U CN201120241057U CN202155463U CN 202155463 U CN202155463 U CN 202155463U CN 2011202410572 U CN2011202410572 U CN 2011202410572U CN 201120241057 U CN201120241057 U CN 201120241057U CN 202155463 U CN202155463 U CN 202155463U
- Authority
- CN
- China
- Prior art keywords
- claw beam
- linear actuator
- buffer unit
- right sides
- connector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Forging (AREA)
Abstract
The utility model relates to a lifting mechanism of a forging operation machine, belonging to the technical field of mechanical engineering. The lifting mechanism is characterized in that the lower end of a rear hanging rod (20) is connected at the upper end of a length adjusting piece (18) of a forceps rod by a rotating hinge; the lower end of the length adjusting piece (18) of the forceps rod is connected with the rear end of the forceps rod (15) by a cylindrical pair; the front ends of two front and rear buffer linear drivers (17) are respectively connected with the middle parts of two front hanging rods (12); left and right buffer linear drivers (11) are fixedly connected with a hanging frame (10) and a connecting piece (13) of the left and right buffer linear drivers; and the connecting piece (13) of the left and right buffer linear drivers are connected with a hanging rod connecting piece (14) by the rotating hinge. The lifting mechanism has the characteristics that the coupling degree among all the movement is little, so that the accurate and fast positioning of the forceps rod is easy, and the production quality and the productivity can be improved.
Description
Technical field
The utility model relates to a kind of device of mechanical engineering field, is specifically related to a kind of forging manipulator lifting mechanism that is used for flat-die forging.
Background technology
Forging manipulator is one of basic tool of large-sized forging pressure processing, is used with forcing press.In general, forging manipulator need realize comprising seven forging operation functions such as jaw clamping, claw beam rotation, claw beam up-down, claw beam pitching, claw beam are traversing, claw beam swing, large vehicle walking.Wherein jaw clamps, claw beam rotation, three actions of large vehicle walking be separate on the structure, and respectively by motor and hydraulic pressure drive, clamp is realized the clamping and the spinfunction of workpiece, and cart is born walking function, and remaining action has the hoisting mechanism realization.
Through the retrieval of prior art is found, application number is the hoisting mechanism that 201010133714.1 patent discloses a kind of forging manipulator, and it has realized the separate control of seven motions that forging operation needs, and installs easily, and is simple in structure.But in this scheme,, make traversing and the swing of claw beam can cause the up-down of claw beam, but also can be coupled, be unfavorable for fast and the accurate claw beam position of adjusting, influence working (machining) efficiency with the front and back buffer unit because claw beam length can not regulate.
Summary of the invention
In order to overcome the deficiency of prior art; The utility model provides a kind of forging manipulator lifting mechanism; Realize up-down that forging operation needs, pitching, traversing, swing and front and back and left and right sides kicking motion; It is little to have between each motion degree of coupling, is easy to accurately and location fast, improves the characteristics of the quality of production and productivity ratio.
The utility model is realized through following technical scheme; The utility model comprises lifting device, swings device, front and back buffer unit, left and right sides buffer unit, claw beam and frame; Wherein swing device and be installed in lifting device top, claw beam is installed in the lifting device bottom, and the front end of front and back buffer unit is connected the middle part of lifting device front overhang peg; The rear end links to each other with frame, and left and right sides buffer unit is installed between two front overhang pegs.
Described lifting device comprises: two front overhang pegs, two preceding connectors, two up-down linear actuators, preceding lift arm, preceding slide bar, rear suspension rods, rear connectors, back lift arm, back slide bar, two pitching linear actuators, hanger bar connector, claw beam length adjustment piece and claw beams; Wherein: two front overhang peg upper ends are connected the lower end of two preceding connectors respectively with turning joint; The lower end is connected the two ends of hanger bar connector respectively with ball pivot; The both sides of slide bar before two preceding connector upper ends are connected with turning joint respectively; Lift arm both sides before two up-down linear actuator upper ends are connected with turning joint respectively; The lower end is connected the frame both sides with turning joint respectively, and the rear suspension rods upper end is connected the rear connectors lower end with turning joint, and the lower end is connected the upper end of claw beam length adjustment piece with turning joint; The rear connectors upper end is connected in the middle of the slide bar of back with turning joint; The cylindrical pair that the lower end of claw beam length adjustment piece is arranged through horizontal direction before and after the axis links to each other with the claw beam rear portion, and claw beam is anterior to link to each other with the middle part of hanger bar connector through turning joint, and level places the lift arm top before and after two pitching linear actuators; The both sides of lift arm before front end is connected with turning joint respectively, the rear end is connected the both sides of back lift arm respectively with turning joint.
Horizontal direction is arranged before and after the turning joint axis of said connection front overhang peg and preceding connector, rear suspension rods and rear connectors; The turning joint axis vertical direction of said connection rear suspension rods and claw beam length adjustment piece, claw beam and hanger bar connector arranges that the equal left and right horizontal direction of said all the other turning joint axis is arranged.
Said two up-down linear actuators, two front overhang pegs, two preceding connectors, two pitching linear actuators all are symmetrically arranged.
The described device that swings comprises: left and right sides linear actuator and back slide bar behind two the preceding left and right sides linear actuators, preceding slide bar, two; Wherein: two preceding left and right sides linear actuator left-right symmetric distribute; Its tache motorice withstands on preceding slide bar two ends respectively, and stiff end is separately fixed at preceding lift arm both sides, linear actuator also left-right symmetric in the left and right sides after two; Its tache motorice withstands on slide bar two ends, back respectively, and stiff end is separately fixed at lift arm both sides, back.
Described front and back buffer unit comprises: buffering linear actuator and coordination bar before and after two; Buffering linear actuator front end links to each other with the middle part of two front overhang pegs through the cylindrical pair that axis left and right horizontal direction is arranged respectively before and after two; The rear end is connected with ball pivot respectively and coordinates the bar two ends; Coordinate bar and be connected on the frame with turning joint, wherein the axis vertical direction of turning joint is arranged.
Described left and right sides buffer unit comprises: about cushion linear actuator, hanger bracket and about buffering linear actuator connector; The hanger bracket upper end is connected in the middle of the preceding slide bar with turning joint; About buffering linear actuator and hanger bracket with about cushion the linear actuator connector and be fixedly connected; About buffering linear actuator connector be connected the axis left and right horizontal direction of turning joint layout wherein with the hanger bar connector through hinge.
Each motion of forging manipulator is accomplished by each device is independent respectively.During elevating movement; Lift arm before two up-down linear actuators promote; Drive preceding slide bar and two preceding connectors and then drive two front overhang pegs and be synchronized with the movement up and down; Pitching linear actuator through two former length of maintenance promotes the back lift arms simultaneously, drives back slide bar and rear connectors and then drive rear suspension rods and claw beam length adjustment piece and is synchronized with the movement up and down, does the oscilaltion campaign thereby drive claw beam.During elevating movement, two pitching linear actuators head on preceding lift arm, promote the back lift arm, drive back slide bar and rear connectors and then drive rear suspension rods and claw beam length adjustment piece, do elevating movement thereby drive claw beam.Traversing and oscillating motion is accomplished by preceding left and right sides linear actuator and the left and right sides, back linear actuator; Slide bar moved before preceding left and right sides linear actuator promoted, and drove two front rods and two front overhang pegs and hanger bar connector, drove claw beam from the front portion of claw beam and realized laterally mobile; Back left and right sides linear actuator promotes the back slide bar and moves, and drives rear connecting rod and rear suspension rods and claw beam length adjustment piece, realizes laterally moving from the rear portion drive claw beam of claw beam; When forward and backward left and right sides linear actuator driving direction unanimity and equal and opposite in direction, claw beam is realized laterally moving; When forward and backward left and right sides linear actuator driving direction opposite or drive amount not simultaneously, claw beam is realized oscillating motion.Cart start to quicken and stop decelerating phase and heavy forging forging process in, through the stretching motion of buffering linear actuators before and after two, realize the kicking motion that claw beam adapts to front and back sudden change external force.When horizontal sudden change external force act on the claw beam make about the suffered axial force of buffering linear actuator when reaching the predefined value of driver; About two motion parts of the buffering linear actuator left and right sides can at random in its stiff end, move, thereby realize the kicking motion that claw beam adapts to horizontal sudden change power.
The beneficial effect of the utility model is: through the claw beam length adjustment piece rear suspension rods and claw beam rear portion are coupled together, make claw beam acting length aspect mechanism kinematic to regulate; Through using turning joint that the claw beam front portion is connected with the middle part of forward mounting joint element for bar, make between claw beam and the hanger bar connector it can is any angle; Through using cylindrical pair that buffering linear actuator before and after two front overhang peg profits is linked to each other, can not cushion the linear actuator coupling when slide bar drives two front overhang peg motions before making with front and back; Through use hinge with the forward mounting joint element for bar with about buffering linear actuator connector be connected, make the elevating movement of claw beam and left and right sides buffer unit have nothing to do; And then reduced the coupling between up-down, pitching, the traversing and swing, make claw beam the location more accurately, quicker, improved the quality of production and productivity ratio.
Description of drawings
Fig. 1 is the schematic diagram of mechanism of forging manipulator suspension.
Fig. 2 is the position view of suspension in forging manipulator.
1. back lift arms among the figure, 2. back slide bar, the 3. left and right sides, back linear actuator, 4. pitching linear actuator, 5. frame; 6. preceding lift arm, 7. preceding slide bar, 8. preceding left and right sides linear actuator, 9. preceding connector; 10. hanger bracket, about 11. cushion linear actuator, 12. front overhang pegs, about 13. buffering linear actuator connectors; 14. the hanger bar connector, 15. claw beams, 16. up-down linear actuators, 17. front and back buffering linear actuator; 18. the claw beam length adjustment piece, 19. coordinate bar, 20. rear suspension rods, 21. rear connectors.
The specific embodiment
Embodiment to the utility model elaborates below in conjunction with accompanying drawing: present embodiment is being to implement under the prerequisite with the utility model technical scheme; Provided detailed embodiment and specific operation process, but the scope of the utility model protection is not limited to and states embodiment.
Shown in accompanying drawing; Present embodiment comprises: lifting device, swing device, front and back buffer unit, left and right sides buffer unit, claw beam (15) and frame (5); Wherein swing device and be installed in lifting device top, claw beam (15) is installed in the lifting device bottom, and the front end of front and back buffer unit is connected front overhang peg (12) middle part of lifting device; The rear end links to each other with frame (5), and left and right sides buffer unit is installed between two front overhang pegs (12).
Described lifting device comprises: two front overhang pegs (12), two preceding connectors (9), two up-down linear actuators (16), preceding lift arm (6), preceding slide bar (7), rear suspension rods (20), rear connectors (21), back lift arm (1), back slide bar (2), two pitching linear actuators (4), hanger bar connector (14), claw beam length adjustment piece (18) and claw beam (15); Wherein: two front overhang pegs (12) upper end is connected the lower end of two preceding connectors (9) respectively with turning joint; The lower end is connected the two ends of hanger bar connector (14) respectively with ball pivot; Two preceding connectors (9) upper end is connected the both sides of preceding slide bar (7) respectively with turning joint; Two up-down linear actuators (16) upper end is connected preceding lift arm (6) both sides with turning joint respectively; The lower end is connected frame (5) both sides with turning joint respectively; Rear suspension rods (20) upper end is connected rear connectors (21) lower end with turning joint; The lower end is connected the upper end of claw beam length adjustment piece (18) with turning joint, and rear connectors (21) upper end is connected in the middle of the back slide bar (2) with turning joint, and the cylindrical pair that the lower end of claw beam length adjustment piece (18) is arranged through horizontal direction before and after the axis links to each other with claw beam (15) rear portion; Claw beam (15) is anterior to link to each other with the middle part of hanger bar connector (14) through turning joint; Level places the lift arm top before and after two pitching linear actuators (4), and front end is connected the both sides of preceding lift arm (6) respectively with turning joint, and the rear end is connected the both sides of back lift arm (1) respectively with turning joint.
Horizontal direction is arranged before and after the turning joint axis of said connection front overhang peg (12) and preceding connector (9), rear suspension rods (20) and rear connectors (21); The turning joint axis vertical direction of said connection rear suspension rods (20) and claw beam length adjustment piece (18), claw beam (15) and hanger bar connector (14) arranges that the equal left and right horizontal direction of said all the other turning joint axis is arranged.
Said two up-down linear actuators (16), two front overhang pegs (12), two preceding connectors (9), two pitching linear actuators (4) all are symmetrically arranged.
The described device that swings comprises: left and right sides linear actuator (3) and back slide bar (2) behind two the preceding left and right sides linear actuators (8), preceding slide bar (7), two; Wherein: two preceding left and right sides linear actuators (8) left-right symmetric distributes; Its tache motorice withstands on preceding slide bar (7) two ends respectively, and stiff end is separately fixed at preceding lift arm (6) both sides, also left-right symmetric of left and right sides linear actuator (3) after two; Its tache motorice withstands on slide bar (2) two ends, back respectively, and stiff end is separately fixed at lift arm (1) both sides, back.
Described front and back buffer unit comprises: buffering linear actuator (17) and coordination bar (19) before and after two; Buffering linear actuator (17) front end links to each other with the middle part of two front overhang pegs (12) through the cylindrical pair that axis left and right horizontal direction is arranged respectively before and after two; The rear end is connected with ball pivot respectively and coordinates bar (19) two ends; Coordinate bar (19) and be connected on the frame (5) with turning joint, wherein the axis vertical direction of turning joint is arranged.
Described left and right sides buffer unit comprises: about cushion linear actuator (11), hanger bracket (10) and about buffering linear actuator connector (13); Hanger bracket (10) upper end is connected in the middle of the preceding slide bar (7) with turning joint; About cushion linear actuator (11) and hanger bracket (10) with about buffering linear actuator connector (13) be fixedly connected; About buffering linear actuator connector (13) be connected the axis left and right horizontal direction of turning joint layout wherein through hinge with hanger bar connector (14).
Each motion of forging manipulator is accomplished by each device is independent respectively.During elevating movement; Lift arm (6) before two up-down linear actuators (16) promote; Drive preceding slide bar (7) and two preceding connectors (9) and then drive two front overhang pegs (12) and be synchronized with the movement up and down; Pitching linear actuator (4) through two former length of maintenance promotes back lift arms (1) simultaneously, drives back slide bar (2) and rear connectors (21) and then drive rear suspension rods (20) and claw beam length adjustment piece (18) and is synchronized with the movement up and down, does the oscilaltion campaign thereby drive claw beam (15).During elevating movement; Two pitching linear actuators (4) head on preceding lift arm (6); Promote back lift arm (1), drive back slide bar (2) and rear connectors (21) and then drive rear suspension rods (20) and claw beam length adjustment piece (18), do elevating movement thereby drive claw beam (15).Traversing and oscillating motion is accomplished by preceding left and right sides linear actuator (8) and back left and right sides linear actuator (3); Slide bar (7) moved before preceding left and right sides linear actuator (3) promoted, and drove two front rods (9) and two front overhang pegs (12), realized laterally moving from the front portion drive claw beam (15) of claw beam (15); Back left and right sides linear actuator (3) promotes back slide bar (2) and moves, and drives rear connecting rod (21) and rear suspension rods (20) and claw beam length adjustment piece (18), realizes laterally moving from the rear portion drive claw beam (15) of claw beam (15); When forward and backward left and right sides linear actuator driving direction unanimity and equal and opposite in direction, claw beam (15) is realized laterally moving; When forward and backward left and right sides linear actuator driving direction opposite or drive amount not simultaneously, claw beam (15) is realized oscillating motion.Cart start to quicken and stop decelerating phase and heavy forging forging process in, through the stretching motion of buffering linear actuators (17) before and after two, realize the kicking motion that claw beam (15) adapts to front and back sudden change external force.When horizontal sudden change external force acts on when cushioning the suffered axial force of linear actuator (17) about claw beam (15) go up to make and reaching the predefined value of driver; About cushion linear actuator (11) left and right sides two motion parts can be at random in its stiff end, move, thereby realize the kicking motion that claw beam (15) adapts to horizontal sudden change power.
Claims (1)
1. one kind is lacked the coupled motions forging manipulator lifting mechanism; Comprise lifting device, swing device, front and back buffer unit, left and right sides buffer unit, claw beam (15) and frame (5), wherein swing device and be installed in lifting device top, claw beam (15) is installed in the lifting device bottom; The front end of front and back buffer unit is connected front overhang peg (12) middle part of lifting device; The rear end links to each other with frame (5), and left and right sides buffer unit is installed between two front overhang pegs (12), it is characterized in that:
Described lifting device comprises: two front overhang pegs (12), two preceding connectors (9), two up-down linear actuators (16), preceding lift arm (6), preceding slide bar (7), rear suspension rods (20), rear connectors (21), back lift arm (1), back slide bar (2), two pitching linear actuators (4), hanger bar connector (14), claw beam length adjustment piece (18) and claw beam (15); Wherein: the turning joint that rear suspension rods (20) lower end is arranged with the axis vertical direction is connected the upper end of claw beam length adjustment piece (18), and the cylindrical pair that the lower end of claw beam length adjustment piece (18) is arranged through horizontal direction before and after the axis links to each other with claw beam (15) rear portion;
Described front and back buffer unit comprises: buffering linear actuator (17) and coordination bar (19) before and after two, and two front and back buffering linear actuator (17) front ends link to each other with the middle part of two front overhang pegs (12) through the cylindrical pair that axis left and right horizontal direction is arranged respectively;
Described left and right sides buffer unit comprises: about cushion linear actuator (11), hanger bracket (10) and about buffering linear actuator connector (13); About cushion linear actuator (11) and hanger bracket (10) with about buffering linear actuator connector (13) is fixedly connected, about the turning joint of buffering linear actuator connector (13) through axis left and right horizontal direction layout be connected with hanger bar connector (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202410572U CN202155463U (en) | 2011-07-06 | 2011-07-06 | Lifting mechanism of forging operation machine with little coupling movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202410572U CN202155463U (en) | 2011-07-06 | 2011-07-06 | Lifting mechanism of forging operation machine with little coupling movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202155463U true CN202155463U (en) | 2012-03-07 |
Family
ID=45763112
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202410572U Expired - Fee Related CN202155463U (en) | 2011-07-06 | 2011-07-06 | Lifting mechanism of forging operation machine with little coupling movement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202155463U (en) |
Cited By (5)
| 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 |
| CN102921869A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Double-lift driven forging manipulator |
| CN102935482A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Synchronous connecting rod forwardly-connected forging manipulator |
| CN102941303A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Forging manipulator with few coupled motions |
| CN104325062A (en) * | 2014-10-17 | 2015-02-04 | 燕山大学 | Pitching linear actuator and machine frame connection type forging manipulator |
-
2011
- 2011-07-06 CN CN2011202410572U patent/CN202155463U/en not_active Expired - Fee Related
Cited By (8)
| 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 |
| CN102921869A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Double-lift driven forging manipulator |
| CN102935482A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Synchronous connecting rod forwardly-connected forging manipulator |
| CN102941303A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Forging manipulator with few coupled motions |
| CN102935482B (en) * | 2012-10-30 | 2014-12-24 | 燕山大学 | Synchronous connecting rod forwardly-connected forging manipulator |
| CN102941303B (en) * | 2012-10-30 | 2015-01-07 | 燕山大学 | Forging manipulator with few coupled motions |
| CN102921869B (en) * | 2012-10-30 | 2015-04-08 | 燕山大学 | Double-lift driven forging manipulator |
| CN104325062A (en) * | 2014-10-17 | 2015-02-04 | 燕山大学 | Pitching linear actuator and machine frame connection type forging manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101791674B (en) | Lifting mechanism of forging manipulator | |
| CN101607296B (en) | Upper connecting rod forward-only connecting type forging manipulator | |
| CN101879571B (en) | Forging manipulator lifting mechanism with inclined rear suspension rods | |
| CN102728764A (en) | Lifting mechanism of parallel connecting lever type large-tonnage forging manipulator | |
| CN202155463U (en) | Lifting mechanism of forging operation machine with little coupling movement | |
| CN102921867B (en) | Forging manipulator | |
| CN103381466B (en) | Parallel connecting rod type forging manipulator with down lateral-movement linear driver | |
| CN103056266B (en) | Parallel rod type forging manipulator lifting mechanism with slantly-arranged pitching linear actuator | |
| CN102728763A (en) | Lifting mechanism of rear suspension rod-inclined oscillating lever type forging manipulator | |
| CN103157741B (en) | Dual-drive straight-line lifting forging manipulator | |
| CN202894191U (en) | Less coupling motor type forging manipulator | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN102941303B (en) | Forging manipulator with few coupled motions | |
| CN203091650U (en) | Double-drive forging manipulator achieving straight-line lifting | |
| CN103706748B (en) | A kind of pitching linear actuator asymmetric forging manipulator lifting mechanism | |
| CN102935480B (en) | Little kinematic coupling type six-degree-of-freedom forging manipulator | |
| CN103537604A (en) | Six-freedom-degree forging manipulator | |
| CN103909198B (en) | A kind of large-sized forging manipulator mechanism | |
| CN202894189U (en) | Lift arm suspension type forging manipulator | |
| CN103381464A (en) | Parallel rod type lifting mechanism for forging manipulator | |
| CN203091649U (en) | Forging manipulator achieving straight-line lifting under redundant drive | |
| CN203091651U (en) | Forging manipulator capable of being lifted in straight line mode | |
| CN103894533A (en) | Completely-decoupled type forging manipulator lifting mechanism | |
| CN103537598A (en) | Forging manipulator with optimized deflector | |
| CN103143664B (en) | Forging manipulator with linear lifting function |
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: 20120307 Termination date: 20120706 |