CN202894180U - Double lifting drive forging manipulator - Google Patents

Abstract

A forging manipulator, the tongs are hinged to the clamp rod, the clamp rod is hinged to the front suspension rod and the pitch linear drive, the pitch linear drive is hinged to the rear slide rod, the front coordination rod is fixedly connected to the clamp rod, the front suspension rod is connected to the front coordination rod It is hinged with the connecting piece, the connecting piece is hinged with the front sliding rod, the two ends of the front left and right linear drives are fixedly connected to the front lifting arm and the front sliding rod, the synchronous link is hinged with the front lifting arm and the rear lifting arm, and the front lifting arm and the rear lifting arm are hinged. The arms are respectively hinged with the frame, the front lifting linear drive is hinged with the front lifting arm and the frame, the rear lifting linear drive is hinged with the rear lifting arm and the frame respectively, and the two ends of the rear left and right linear drives are fixedly connected to the synchronous link and the rear sliding rod Above, the front and rear linear drives are hinged to the front suspension rod and the rear coordination rod, and the rear coordination rod is hinged to the frame. The utility model can realize six-degree-of-freedom forging operation, and the mechanism adopts a double lifting drive and a rigid synchronous connecting rod structure, which not only improves the bearing capacity of the mechanism, but also enhances the motion stability.

Description

A Double Lifting Drive Forging Manipulator

Technical Field The present invention relates to a forging manipulator.

Background Art The forging manipulator is one of the basic tools for large-scale forging press processing, and is a piece of equipment to realize the mechanization and automation of forging production, and is used in conjunction with forging presses. The forging manipulator is one of the basic tools for large-scale forging pressure processing, and it is used in conjunction with the press. Generally speaking, the forging manipulator needs to realize seven forging operation functions including jaw clamping, tong bar rotation, tong bar lifting, tong bar pitching, tong bar lateral movement, tong bar swing, and cart travel. After searching, it is found that the Chinese patent with the publication number CN 101879571 A discloses a synchronous connecting rod inclined forging manipulator lifting mechanism. This mechanism has seven movements required by forging, but when it is lifting, a pair of pitching linear drives replace The synchronous connecting rod plays a role of synchronization, but the linear drive is a flexible element. When the mechanism bears an eccentric load, the changes of the two symmetrical linear drives are inconsistent, and they cannot play a synchronous role, which affects the lifting movement. After searching, it is also found that the Chinese patent with the publication number of CN 102019340 A discloses a lifting mechanism for the tong rod of the forging operation machine. The synchronous connecting rod drives the rear lifting arm to make the rear end of the tong rod move up and down. When encountering heavy-duty forgings, the rigid synchronous connecting rod has limited bearing capacity, resulting in deformation of the synchronous connecting rod, and even severe consequences of fracture.

SUMMARY OF THE INVENTION The purpose of this utility model is to provide a forging manipulator with six degrees of freedom and enhanced lifting driving force. The utility model mainly includes a clamp rotating device, a lifting device, a pitching device, a front and rear buffer device and an offset deflection device. The clamp rotating device includes: a clamp rod and a clamp; the lifting device includes: a front lifting arm, a synchronous link, a rear lifting arm, a pair of front lifting linear drives, a pair of connecting pieces, a pair of front suspension rods, The front coordination rod and a pair of rear lifting linear drives; the pitching device includes: a pitching linear drive; the front and rear buffering devices include: a pair of front and rear linear drives; For rear left and right linear drives, front and rear sliders.

Among them, the rear end of the clamp is connected to the front end of the clamp rod through a rotating hinge, the rear end of the clamp rod is connected to one end of the pitch linear driver through a ball joint, and the other end of the pitch linear driver is connected to the middle part of the rear sliding rod through a rotating hinge. The two ends of the rod are respectively fixedly connected to one end of a pair of rear left and right linear drivers, and the other ends of the pair of rear left and right linear drivers are respectively fixedly connected to the middle part of a pair of synchronous connecting rods. It is connected with one end of the front lifting arm connected with the frame through a hinge, and the other end of the pair of synchronizing links is respectively connected with the rear lifting arm through a rotating hinge, and one end of the rear lifting arm is connected with the frame through a rotating hinge. The other end of the lifting arm is respectively connected with one end of a pair of rear lifting linear drivers through a rotating hinge, and the other end of the pair of rear lifting linear drivers is respectively connected with the frame through a rotating hinge; The middle part of the coordinating rod is fixedly connected, and the two ends of the front coordinating rod are respectively connected with one end of a pair of front suspension rods through a ball joint, and the other ends of the pair of front suspension rods are respectively connected with one end of a pair of connecting parts through a rotating hinge. The other ends of the pair of connectors are respectively connected to the front sliding rods through rotating hinges. On the above-mentioned front lift arm, the other end of the above-mentioned front lift arm is respectively connected to one end of a pair of front lifting linear drives through a rotating hinge, and the other end of the pair of front lifting linear drives is respectively connected to the frame through a rotating hinge; the above-mentioned one The middle part of the front suspension rod is respectively connected to one end of a pair of front and rear linear drivers through a ball joint, and the other end of the pair of front and rear linear drivers is respectively connected to both ends of the rear coordinating rod through a ball joint, and the middle part of the rear coordinating rod is connected to the frame through a rotating hinge connected.

The lifting movement process of the forging manipulator: a pair of front lifting linear actuators and a pair of rear lifting linear actuators push the front lifting arm and the rear lifting arm respectively in the same direction and size, and drive the synchronous connecting rod, front sliding rod and rear sliding rod to move up and down Synchronous movement, thereby driving the connecting piece, the front suspension rod, the front coordination rod and the fixed-length pitch linear drive to do the lifting movement, and then drive the clamp rod to do the horizontal lifting movement. Front and rear movement process: the cart directly drives the forging manipulator to move forward and backward as a whole. When the cart is accelerating, starting, decelerating and stopping, and forging forgings, a pair of front and rear linear drive telescopic movements enable the clamp rod to adapt to the front and rear abrupt external forces. buffer movement. Pitching motion process: The pitching linear driver pushes the clamp rod, driving the rear end of the clamp rod to move up and down, while the position of the hinge axis connecting the front suspension rod and the clamp rod remains unchanged, thus driving the clamp to do pitching motion. Offset and deflection movement process: firstly, a pair of front and rear linear actuators maintain the same fixed length, and then when a pair of front left and right linear actuators and a pair of rear left and right linear actuators drive in the same direction and have the same size, the clamp rod drives the clamp to perform offset movement; When a pair of front left and right linear drivers and a pair of rear left and right linear drivers have opposite driving directions or different driving amounts, the clamp rod drives the clamp to perform offset movement. Clamp rotation process: by driving the rear end of the clamp to make it rotate around the hinge axis of the rear end.

Compared with the prior art, the utility model has the following advantages:

1. The front and rear double lifting drive structure is adopted, which enhances the driving force of the lifting and improves the overall carrying capacity of the mechanism.

2. The rigid synchronous connecting rod structure is adopted, and when the mechanism is subjected to partial load, it can still move forward and backward stably and accurately.

Description of drawings

Fig. 1 is a perspective view of the utility model.

In the figure: 1-clamp, 2-clamp bar, 3-front lift linear drive, 4-front and rear linear drive, 5-rear coordination rod, 6-rear lift linear drive, 7-pitch linear drive, 8-rack, 9-rear lift arm, 10-rear slide bar, 11-rear left and right linear drive, 12-synchronous link, 13-front lift arm, 14-front left and right linear drive, 15-connecting piece, 16-front slide bar, 17 -Front Suspension Rod, 18-Front Coordinator Rod.

Detailed ways

In the schematic diagram of a forging manipulator shown in Figure 1, the rear end of the tongs 1 is connected to the front end of the tong rod 2 through a rotating hinge, and the rear end of the tong rod is connected to one end of the pitch linear drive 7 through a ball joint. The other end of the pitching linear drive is connected to the middle part of the rear slide bar 10 through a rotating hinge. The middle part of a pair of synchronous connecting rods 12, one end of the pair of synchronous connecting rods is respectively connected with one end of the front lifting arm 13 which is connected with the frame by a hinge through a rotary hinge, and the other end of the pair of synchronous connecting rods is respectively connected by a rotary hinge. It is connected with the rear lifting arm 9, one end of the rear lifting arm is connected with the frame 8 through a rotating hinge, and the other end of the rear lifting arm is respectively connected with one end of a pair of rear lifting linear drivers 6 through a rotating hinge. The other end of the linear drive is respectively connected to the frame through a rotating hinge; a part of the above-mentioned tong rod close to the tong is connected to the middle part of the front coordination rod 18, and the two ends of the front coordination rod are respectively connected to a pair of front suspension rods 17 through a ball joint. One end of the pair of front suspension rods is connected, the other end of the pair of front suspension rods is respectively connected with one end of a pair of connecting parts 15 through a rotating hinge, and the other end of the pair of connecting parts is connected with the front sliding rod 16 respectively through a rotating hinge, and the front sliding rod The two ends of the two ends are fixedly connected with one end of a pair of front left and right linear actuators 14 respectively, and the other ends of the pair of front left and right linear actuators are respectively fixedly connected on the above-mentioned front lifting arm, and the other end of the above-mentioned front lifting arm is respectively connected to a One end of the front lifting linear actuator 3 is connected, and the other end of the pair of front lifting linear actuators is respectively connected with the frame through a rotating hinge; the middle part of the pair of front suspension rods is respectively connected with one end of a pair of front and rear linear actuators 4 through a ball joint. , the other end of the pair of front and rear linear drivers is respectively connected to the two ends of the rear coordination rod 5 through a ball hinge, and the middle part of the rear coordination rod is connected to the frame through a rotating hinge.

Claims (1)

1. two a lifting drives forging manipulator, it is characterized in that: the clamp rear end is connected with the claw beam front end by turning joint, the rear end of this claw beam links to each other with pitching linear actuator one end by ball pivot, this pitching linear actuator other end links to each other with rear slide bar middle part by turning joint, the slide bar two ends connect firmly respectively the end at 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 the middle part at a pair of synchronising (connecting) rod, one end of this a pair of synchronising (connecting) rod links to each other with an end of the front lift arm that links to each other with frame by hinge respectively by turning joint, the other end of this a pair of synchronising (connecting) rod links to each other with rear lift arm respectively by turning joint, an end of lift arm links to each other with frame by turning joint after being somebody's turn to do, the other end of lift arm links to each other with an end of a pair of rear lifting linear actuator respectively by turning joint after being somebody's turn to do, and the other end of this a pair of rear lifting linear actuator links to each other with frame respectively by turning joint; Above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar, should frontly coordinate the bar two ends links to each other with an end of a pair of front overhang peg respectively by ball pivot, the other end of this a pair of front overhang peg links to each other with an end of a pair of connector respectively by turning joint, the other end of this a pair of 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 respectively on above-mentioned front lift arm, the other end of above-mentioned front lift arm links to each other with an end of a pair of front lifting linear actuator respectively by turning joint, and the other end of this a pair of front 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 a pair of front and back linear actuator one end respectively by ball pivot, and this a pair of front and back linear actuator other end links to each other with rear coordination bar two ends respectively by ball pivot, coordinates the bar middle part after this and links to each other with frame by turning joint.

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