CN202894185U - Forging manipulator of six degrees of freedom - Google Patents
Forging manipulator of six degrees of freedom Download PDFInfo
- Publication number
- CN202894185U CN202894185U CN 201220559442 CN201220559442U CN202894185U CN 202894185 U CN202894185 U CN 202894185U CN 201220559442 CN201220559442 CN 201220559442 CN 201220559442 U CN201220559442 U CN 201220559442U CN 202894185 U CN202894185 U CN 202894185U
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- linear actuator
- hinge
- large vehicle
- lift arm
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Abstract
A forging manipulator of six degrees of freedom mainly comprises a lifting device, a pitching device, a front-rear buffer device, a left-right buffer device, a large vehicle rotary device, a large vehicle walking device and a clamp revolving device. A front lifting arm and a rear lifting arm are respectively hinged with a large vehicle frame, and a synchronous connecting rod is respectively hinged with the front lifting arm and the rear lifting arm. A lifting linear actuator is respectively hinged with the rear lifting arm and the large vehicle frame. A front hanging rod is respectively hinged with the front lifting arm and a front left-right linear actuator. A front-rear linear actuator is respectively hinged with the front hanging rod and the rear lifting arm. A front connecting piece is respectively hinged with the front left-right linear actuator and a clamp rod, and a rear connecting piece is respectively hinged with a rear left-right linear actuator and the clamp rod. A pitching linear actuator is respectively hinged with the rear left-right linear actuator and the large vehicle frame, a clamp is hinged with the clamp rod, and the large vehicle frame is hinged with the walking device. The forging manipulator of six degrees of freedom can achieve forging operation of six degrees of freedom, enlarges advanced movement space, uses lower pairs wholly, reduces cost, and is convenient to mount.
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 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 the retrieval to existing forging operation machine technology, publication number is that the Chinese patent of CN 101879571 A has been announced a kind of forging manipulator lifting mechanism with inclined rear suspension rods, this manipulator rear suspension rods is to link to each other with the claw beam rear portion with ball pivot equally, has weakened the integrated carrying ability of this type of manipulator.At present, also having some large-sized forging manipulators to adopt lower pair to connect, be the disclosed a kind of forging manipulators of CN 102303089 A such as publication number, but it can not satisfy the forging requirement of comprehensive six degree of freedom; There was restraint condition in some other mechanism, so that processing is comparatively difficult with assembling.
Summary of the inventionThe purpose of this utility model is to provide a kind of mechanism not have constraint, can increases the six-freedom-degree manipulator for forging of working space.The utility model comprises that mainly cart moves and whirligig, clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit.
Wherein, cart moves and whirligig comprises: large chassis, large vehicle carriage and travel mechanism.Large chassis is connected with the cart bottom of frame by hinge, and travel mechanism is installed on the large chassis, and this travel mechanism can be that moving sets also can be wheel.
Described clamp rotating device comprises: claw beam and clamp.The clamp rear end is connected with the claw beam front end by hinge, and above-mentioned claw beam front and back ends connects firmly respectively in the centre bore of forward and backward connector.
Described lifting device comprises: front connector, front lift arm, rear lift arm, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of lifting linear actuator.The both sides of front connector connect firmly with an end of a pair of front left and right linear actuator respectively, this front left and right linear actuator is hinged on a pair of front overhang peg, this front overhang peg one end links to each other with front lift arm one end by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, another position of above-mentioned front lift arm links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side, the above-mentioned front lift arm other end links to each other with an end of a pair of synchronising (connecting) rod by hinge, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by hinge respectively, and position of lift arm is connected through the hinge on large vehicle carriage two side after this.
Described elevation mount comprises: rear connectors, a pair of pitching linear actuator.The both sides of this rear connectors connect firmly with an end of a pair of rear left and right sides linear actuator respectively, should be hinged on the upper of a pair of pitching linear actuator by rear left and right sides linear actuator, the other end of this a pair of pitching linear actuator is connected through the hinge on large vehicle carriage two side.
Described front and back buffer unit comprises: a pair of front and back linear actuator.One end of this a pair of front and back linear actuator links to each other with a position of above-mentioned front overhang peg by hinge, and its other end is connected with the other end of above-mentioned rear lift arm by hinge.
Described left and right sides buffer unit comprises: the front left and right linear actuator that above-mentioned a pair of and front connector both sides connect firmly and rear left and right sides linear actuator a pair of and that the rear connectors both sides connect firmly.
Above-mentioned a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of pitching linear actuator, a pair of front left and right linear actuator and the equal left-right symmetry of a pair of rear left and right sides linear actuator are installed on the large vehicle carriage.
Each motion of forging manipulator is driven by each device respectively and finishes.The elevating movement process: a pair of lifting linear actuator promotes front lift arm, driving a pair of front overhang peg, a pair of front left and right linear actuator and front connector does up and down and is synchronized with the movement, thereby driving the claw beam front end moves up and down, left and right sides linear actuator and rear connectors after a pair of pitching linear actuator directly promotes simultaneously, drive the claw beam rear end and move up and down, and then drive claw beam and clamp moves up and down.Process seesaws: directly drive cart by travel mechanism first, drive forging manipulator integral body is done and is seesawed, when the forging manipulator clamp approaches the expection front and back position, promote a pair of front overhang peg by a pair of front and back linear actuator again, drive a pair of front left and right linear actuator and front connector do before and after back and forth movement, and then drive clamp and do and seesaw.The elevating movement process: a pair of pitching linear actuator promotes a pair of rear left and right sides linear actuator, the claw beam rear end that drives rear connectors and connect firmly with it is done and is faced upward up and down the motion of bowing, and the hinge axes position that the front left and right linear actuator links to each other with the front overhang peg remains unchanged, and does elevating movement thereby drive clamp.The transverse motion process: connector and rear connectors before a pair of front left and right linear actuator and a pair of rear left and right sides linear actuator drive respectively in the same way drive claw beam and clamp and do transverse movement.Clamp rotation process: it is rotated by driving the clamp rear end around the rear end hinge axes.Oscillating motion process: by driving the cart bottom of frame it is rotated around the bottom hinge axis, drive the forging manipulator Integral swinging, realize the stable oscillating motion of clamp.
The utility model compared with prior art has following advantage:
1, clamp has six-freedom degree, but clamping is forged under various orientation and various attitude flexibly by the forger part.
2, connecting portion all uses lower pair, has avoided using the higher pair such as ball pivot and the bearing capacity that causes is poor, has reduced processing and manufacturing cost.
3, there was not restraint condition in whole mechanism, was convenient to installation, current check and maintenance.
Description of drawings:
Fig. 1 is that the master of the utility model embodiment looks simplified schematic diagram.
Fig. 2 is the inner three-dimensional simplified schematic diagram of large vehicle carriage among Fig. 1.
Among the figure: lift arm behind left and right sides linear actuator, the front connector of 12-, 13-rear connectors, 14-claw beam, 15-front lift arm, the 16-behind the large vehicle carriage of 1-, the large chassis of 2-, 3-wheel, 4-lifting linear actuator, 5-pitching linear actuator, 6-front and back linear actuator, 7-front overhang peg, 8-synchronising (connecting) rod, 9-clamp, 10-front left and right linear actuator, the 11-.
The specific embodiment:
In the simplified schematic diagram of a kind of six-freedom-degree manipulator for forging illustrated in figures 1 and 2, the cart bottom of frame is connected with large chassis by hinge, and the wheel symmetry is installed on the large chassis.The clamp rear end is connected with the claw beam front end by hinge, the claw beam front end connects firmly in the central through hole of front connector, should before the two ends of connector connect firmly with an end of a pair of front left and right linear actuator respectively, this a pair of front left and right linear actuator is hinged on an end of a pair of front overhang peg, one position of this a pair of front overhang peg is connected by the end of hinge with a pair of front and back linear actuator, the other end of this a pair of front and back linear actuator is connected with an end of rear lift arm by hinge, a position of lift arm is connected on the large vehicle carriage two side by hinge B after being somebody's turn to do, the other end of above-mentioned a pair of front overhang peg is connected with front lift arm one end by hinge, one position of this front lift arm is connected on the large vehicle carriage two side by hinge A, another position of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected on the large vehicle carriage two side by hinge C, the above-mentioned front lift arm other end links to each other with an end of a pair of synchronising (connecting) rod by hinge, the other end of this a pair of synchronising (connecting) rod links to each other with the other end of rear lift arm by hinge respectively, the rear end of above-mentioned claw beam connects firmly in the centre bore of rear connectors, one end of the two ends of this rear connectors and a pair of rear left and right sides linear actuator connects firmly, this a pair of rear left and right sides linear actuator is hinged on an end of a pair of pitching linear actuator, and the other end of this a pair of pitching linear actuator is connected on the large vehicle carriage two side by hinge D.
Above-mentioned a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of front left and right linear actuator and the equal left-right symmetry of a pair of rear left and right sides linear actuator are installed on the large vehicle carriage.
Claims (2)
1. six-freedom-degree manipulator for forging, it is characterized in that: the cart bottom of frame is connected with large chassis by hinge, travel mechanism is installed on the large chassis, the clamp rear end is connected with the claw beam front end by hinge, before this claw beam, the rear end connects firmly respectively front, in the central through hole of rear connectors, should before the two ends of connector connect firmly with an end of a pair of front left and right linear actuator respectively, this a pair of front left and right linear actuator is hinged on a pair of front overhang peg, one position of this a pair of front overhang peg is connected by the end of hinge with a pair of front and back linear actuator, the other end of this a pair of front and back linear actuator is connected with an end of rear lift arm by hinge, a position of lift arm is connected through the hinge on large vehicle carriage two side after being somebody's turn to do, one end of above-mentioned a pair of front overhang peg is connected with front lift arm one end by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, another position of above-mentioned front lift arm is connected with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator is connected through the hinge on large vehicle carriage two side, the above-mentioned front lift arm other end links to each other with an end of a pair of synchronising (connecting) rod by hinge, the other end of this a pair of synchronising (connecting) rod links to each other with the other end of rear lift arm by hinge respectively, the two ends of above-mentioned rear connectors connect firmly with an end of a pair of rear left and right sides linear actuator respectively, this a pair of rear left and right sides linear actuator is hinged on a pair of pitching linear actuator, and the other end of this a pair of pitching linear actuator is connected through the hinge on large vehicle carriage two side.
2. a kind of six-freedom-degree manipulator for forging according to claim 1, it is characterized in that: its a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of front left and right linear actuator and the equal left-right symmetry of a pair of rear left and right sides linear actuator are installed on the large vehicle carriage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559442 CN202894185U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator of six degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559442 CN202894185U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator of six degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202894185U true CN202894185U (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220559442 Withdrawn - After Issue CN202894185U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator of six degrees of freedom |
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| Country | Link |
|---|---|
| CN (1) | CN202894185U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935477A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Six-degree-of-freedom forging manipulator |
-
2012
- 2012-10-30 CN CN 201220559442 patent/CN202894185U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935477A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Six-degree-of-freedom forging manipulator |
| CN102935477B (en) * | 2012-10-30 | 2014-09-10 | 燕山大学 | Six-degree-of-freedom 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: 20140910 |
|
| RGAV | Abandon patent right to avoid regrant |