CN202894179U - Single lifting arm forging manipulator - Google Patents
Single lifting arm forging manipulator Download PDFInfo
- Publication number
- CN202894179U CN202894179U CN 201220559296 CN201220559296U CN202894179U CN 202894179 U CN202894179 U CN 202894179U CN 201220559296 CN201220559296 CN 201220559296 CN 201220559296 U CN201220559296 U CN 201220559296U CN 202894179 U CN202894179 U CN 202894179U
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- pair
- linear actuator
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- rod
- turning joint
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Abstract
A single lifting arm forging manipulator is characterized in that the back end of a clamp is in hinged connection with a clamp rod, a front suspension rod is in hinged connection with two sides of an upper connecting component and a front connecting component, the front connecting component is fixedly connected with the clamp rod, the upper connecting component is in hinged connection with a front sliding rod, two ends of a front left-right straight line driver are respectively fixedly connected with the front sliding rod and a lifting arm which is in hinged connection with a rack, two ends of a straight line driver are respectively connected with the lifting arm and the rack, a back connecting component is fixedly connected with the clamp rod, two ends of a back suspension rod are respectively in hinged connection with the back connecting component and a synchronized connecting rod, two ends of the synchronized connecting rod are respectively connected with the front suspension rod and the front left-right straight line driver, a coordinating rod which is connected with the rack through a hinge is in hinged connection with the front left-right straight line driver, two ends of a pitching straight line driver are respectively in hinged connection with the back end of the clamp rod and a back sliding rod, and two ends of a back left-right straight line driver are respectively fixedly on the back sliding rod and the rack. The single lifting arm forging manipulator is provided with six degrees of freedom, a single lifting arm structure is applied, energy consumption is reduced, and forging demands of forging pieces are satisfied.
Description
Technical fieldThe utility model relates to a kind of forging manipulator.
Background technologyForging manipulator is one of basic tool of large-sized forging pressure processing, is a capital equipment realizing forging and pressing production mechanization, automation, is used in conjunction with forging press.Present forging manipulator has steel wire hang formula, multi-bar linkage combined type etc.Steel wire hang formula forging manipulator operational capacity is less, is used for small-sized forging, and multi-bar linkage combined type forging manipulator operational capacity is large, is used for large-sized forging.Find through retrieval, publication number is that the Chinese patent of CN 202155463 U discloses a kind of few coupled motions forging manipulator lifting mechanism, it adopts two lift arm mechanisms, although the lifting bearing capacity of mechanism is strengthened, but increased the transmission moving link number from the driver to the clamp, thereby strengthened the energy loss in the motion transmittance process, reduced the mechanical efficiency of manipulator.Also find through retrieval, DYH series forging manipulator does not have six-freedom degree, can not satisfy the forging requirement of forging.
Summary of the inventionThe purpose of this utility model is to provide a kind of can reduce energy loss, has the forging manipulator of six-freedom degree.The utility model mainly comprises clamp rotation device, lifting device, elevation mount, front and back buffer unit and deflection offset assembly.Described clamp rotation device comprises: claw beam and clamp; Described lifting device comprises: a pair of lifting linear actuator, lift arm, a pair of upper connector, a pair of front overhang peg and front connector; Described elevation mount comprises: the pitching linear actuator; Described front and back buffer unit comprises: a pair of front and back linear actuator; Described deflection offset assembly comprises: a pair of front left and right linear actuator and a pair of rear left and right sides linear actuator.
Wherein, the clamp rear end is connected with the claw beam front end by turning joint, this claw beam connects firmly near a position of clamp and the middle part of front connector, the two ends of connector are connected with an end of a pair of front overhang peg respectively by ball pivot before being somebody's turn to do, the middle part of above-mentioned claw beam and the middle part of rear connectors connect firmly, the both sides of this rear connectors link to each other with an end of a pair of rear suspension rods respectively by ball pivot, above-mentioned claw beam rear end links to each other with an end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator links to each other with rear slide bar middle part by turning joint, the two ends of slide bar are connected to an end of a pair of rear left and right sides linear actuator after being somebody's turn to do, the other end of this a pair of rear left and right sides linear actuator connects firmly respectively on frame, the other end of above-mentioned a pair of front overhang peg links to each other with an end of a pair of upper connector respectively by turning joint, the other end of this a pair of upper connector links to each other with front slide bar respectively by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator respectively, the other end of this a pair of front left and right linear actuator connects firmly with lift arm respectively, one end of this lift arm links to each other with frame respectively by turning joint, the other end of above-mentioned lift arm links to each other with an end of a pair of lifting linear actuator respectively by turning joint, the other end of this a pair of lifting linear actuator links to each other with frame respectively by turning joint, the middle part of above-mentioned a pair of front overhang peg links to each other with an end of a pair of synchronising (connecting) rod respectively by ball pivot, this a pair of synchronising (connecting) rod middle part links to each other with the other end of above-mentioned a pair of rear suspension rods respectively by ball pivot, the other end of above-mentioned a pair of synchronising (connecting) rod links to each other with an end of a pair of front and back linear actuator respectively by ball pivot, the other end of this a pair of front and back linear actuator links to each other with the two ends of coordinating bar respectively by ball pivot, and this middle part of coordinating bar links to each other with frame by turning joint.
The elevating movement process of the utility model forging manipulator: a pair of lifting linear actuator promotes front lift arm, drive front slide bar by a pair of front left and right linear actuator, thereby drive upper connector, front overhang peg, front connector are done up and down and are synchronized with the movement, simultaneously the pitching linear actuator drives the claw beam rear end and does up and down and be synchronized with the movement, thereby so that claw beam move up and down.Process seesaws: a pair of front and back linear actuator promotes a pair of synchronising (connecting) rod, drive the front overhang peg do before and after back and forth movement, do and seesaw thereby drive claw beam and clamp.The elevating movement process: the pitching linear actuator directly drives the claw beam rear end and does and face upward up and down the motion of bowing.Deflection and offset movement process: slide bar moved before the front left and right linear actuator promoted, and drove a pair of upper connector, a pair of front overhang peg and front connector, drove claw beam from claw beam front end both sides and realized transverse movement; Slide bar moved after rear left and right sides linear actuator promoted, and drove the pitching linear actuator that keeps former length, drove claw beam from the claw beam rear portion and realized transverse movement.Consistent with rear left and right sides linear actuator driving direction and big or small when identical when the front left and right linear actuator, claw beam is realized transverse motion; When the front left and right linear actuator and after the opposite or driving amount of left and right sides linear actuator driving direction not simultaneously, claw beam is realized oscillating motion.Clamp rotary course: it is rotated by driving the clamp rear end around the rear end hinge axes.
The utility model compared with prior art has following advantage:
1, adopts single lift arm structure in the lifting device, reduced the energy loss in the lifter motion transmittance process, improved the mechanical efficiency of manipulator.
2, clamp has six-freedom degree, but clamping is forged under various orientation and various attitude flexibly by the forger part.
Description of drawings
Fig. 1 is schematic perspective view of the present utility model.
Among the figure: before the 1-clamp, 2-claw beam, 3-before and after connector 4-synchronising (connecting) rod, 5-rear connectors, 6-rear suspension rods, 7-lifting linear actuator, 8-pitching linear actuator, the 9-linear actuator, 10-coordinate slide bar before left and right sides linear actuator behind slide bar behind bar, the 11-, the 12-, 13-frame, 14-lift arm, 15-front left and right linear actuator, 16-upper connector, the 17-, 18-front overhang peg.
The specific embodiment
In the simplified schematic diagram of a kind of single lift arm forging manipulator shown in Figure 1, clamp 1 rear end is connected with claw beam 2 front ends by turning joint, this claw beam connects firmly near a position of clamp and the middle part of front connector 3, the two ends of connector are connected with 18 lower ends of a pair of front overhang peg by ball pivot respectively before being somebody's turn to do, the middle part of the middle part of above-mentioned claw beam and rear connectors 5 connects firmly, the both sides of this rear connectors link to each other with an end of a pair of rear suspension rods 6 by ball pivot respectively, above-mentioned claw beam rear end links to each other with pitching linear actuator 8 one ends by ball pivot, this pitching linear actuator other end links to each other with rear slide bar 11 middle parts by turning joint, the two ends of slide bar are connected to an end of a pair of rear left and right sides linear actuator 12 after being somebody's turn to do, the other end of this a pair of rear left and right sides linear actuator connects firmly on frame 13, the upper end of above-mentioned a pair of front overhang peg links to each other with an end of a pair of upper connector 16 respectively by turning joint, the other end of this a pair of upper connector links to each other with front slide bar 17 respectively by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator 15 respectively, the other end of this a pair of front left and right linear actuator connects firmly with lift arm 14 respectively, one end of this lift arm links to each other with frame by turning joint, the other end of above-mentioned lift arm links to each other with an end of a pair of lifting linear actuator 7 respectively by turning joint, the other end of this a pair of lifting linear actuator links to each other with frame respectively by turning joint, the middle part of above-mentioned a pair of front overhang peg links to each other with an end of a pair of synchronising (connecting) rod 4 respectively by ball pivot, this a pair of synchronising (connecting) rod middle part links to each other with the other end of above-mentioned a pair of rear suspension rods respectively by ball pivot, the other end of above-mentioned a pair of synchronising (connecting) rod links to each other with an end of a pair of front and back linear actuator 9 respectively by ball pivot, the other end of this a pair of front and back linear actuator links to each other with the two ends of coordinating bar 10 respectively by ball pivot, and this middle part of coordinating bar links to each other with frame by turning joint.
Claims (1)
1. single lift arm forging manipulator, it is characterized in that: the clamp rear end is connected with the claw beam front end by turning joint, this claw beam connects firmly near a position of clamp and the middle part of front connector, the two ends of connector are connected with an end of a pair of front overhang peg respectively by ball pivot before being somebody's turn to do, the middle part of above-mentioned claw beam and the middle part of rear connectors connect firmly, the both sides of this rear connectors link to each other with an end of a pair of rear suspension rods respectively by ball pivot, above-mentioned claw beam rear end links to each other with an end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator links to each other with rear slide bar middle part by turning joint, the two ends of slide bar are connected to an end of a pair of rear left and right sides linear actuator after being somebody's turn to do, the other end of this a pair of rear left and right sides linear actuator connects firmly respectively on frame, the other end of above-mentioned a pair of front overhang peg links to each other with an end of a pair of upper connector respectively by turning joint, the other end of this a pair of upper connector links to each other with front slide bar respectively by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator respectively, the other end of this a pair of front left and right linear actuator connects firmly with lift arm respectively, one end of this lift arm links to each other with frame respectively by turning joint, the other end of above-mentioned lift arm links to each other with an end of a pair of lifting linear actuator respectively by turning joint, the other end of this a pair of lifting linear actuator links to each other with frame respectively by turning joint, the middle part of above-mentioned a pair of front overhang peg links to each other with an end of a pair of synchronising (connecting) rod respectively by ball pivot, this a pair of synchronising (connecting) rod middle part links to each other with the other end of above-mentioned a pair of rear suspension rods respectively by ball pivot, the other end of above-mentioned a pair of synchronising (connecting) rod links to each other with an end of a pair of front and back linear actuator respectively by ball pivot, the other end of this a pair of front and back linear actuator links to each other with the two ends of coordinating bar respectively by ball pivot, and this middle part of coordinating bar links to each other with frame by turning joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559296 CN202894179U (en) | 2012-10-30 | 2012-10-30 | Single lifting arm forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559296 CN202894179U (en) | 2012-10-30 | 2012-10-30 | Single lifting arm forging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202894179U true CN202894179U (en) | 2013-04-24 |
Family
ID=48114898
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220559296 Withdrawn - After Issue CN202894179U (en) | 2012-10-30 | 2012-10-30 | Single lifting arm forging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202894179U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935474A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Single-lifting-arm forging manipulator |
-
2012
- 2012-10-30 CN CN 201220559296 patent/CN202894179U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935474A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Single-lifting-arm forging manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130424 Effective date of abandoning: 20141015 |
|
| RGAV | Abandon patent right to avoid regrant |