CN202894188U - Forging manipulator including hanging lift arm - Google Patents
Forging manipulator including hanging lift arm Download PDFInfo
- Publication number
- CN202894188U CN202894188U CN 201220559804 CN201220559804U CN202894188U CN 202894188 U CN202894188 U CN 202894188U CN 201220559804 CN201220559804 CN 201220559804 CN 201220559804 U CN201220559804 U CN 201220559804U CN 202894188 U CN202894188 U CN 202894188U
- Authority
- CN
- China
- Prior art keywords
- pair
- linear actuator
- lift arm
- hinge
- links
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Forging (AREA)
Abstract
The utility model discloses a forging manipulator including a hanging lift arm. The rear end of a clamp is connected with the front end of a clamp rod in a hinged mode. The rear end of the clamp rod is connected with a back connecting piece in a hinged mode. Two sides of a front connecting piece and two sides of the back connecting piece are respectively and fixedly connected with the inner ends of a pair of front left and right linear actuators and a pair of back left and right liner actuators. A front lift arm is connected with a cart frame in a hinged mode. A lift linear actuator is connected with the front lift arm and the cart frame in a hinged mode. A front hanging rod is connected with the front lift arm and the pair of front left and right linear actuators in a hinged mode. A pair of front and back linear actuators is connected with the front hanging rod and the cart frame in a hinged mode. A pitching linear actuator is connected with the hanging lift arm and the cart frame in a hinged mode. The hanging lift arm is connected with a connecting rod and the pair of back left and right linear actuators in a hinged mode. The outer ends of the pair of back left and right linear actuators are connected with the cart frame in a hinged mode. The cart frame is connected with a cart chassis in a hinged mode. Due to the fact that the hanging lift arm structure is adopted, movement range of the clamp rod and the clamp is increased, lower pair is used, machining and manufacturing cost is reduced, overconstraint does not exist and installation, routine inspection and maintenance are convenient.
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 prior art, publication number is that the Chinese patent of CN 101791674 A discloses a kind of forging manipulator lifting mechanism, adopt two lift arm mechanisms, although the lifting bearing capacity of mechanism is strengthened, but lift arm directly is connected on the large vehicle carriage thereafter, reduced the space of claw beam and clamp, and this manipulator rear-mounted part only has linking to each other with the claw beam rear portion with ball pivot of a pair of suspension lift arm, hang lift arm with to be connected ball pivot stressed excessive, reduced the integrated carrying ability of this manipulator, and the processing and manufacturing difficulty.At present, also there are some forging manipulators to adopt lower pair to connect, all adopt lower pair to connect such as each junction of DYH series forging manipulator, but can not satisfy the forging requirement of comprehensive six degree of freedom; And there was constraint in some mechanism, made its processing and assembling comparatively difficult.
Summary of the inventionThe purpose of this utility model is to provide a kind of can increase space, improves the forging manipulator that hangs lift arm that contains that integrated carrying ability, process and assemble are easy, have six degree of freedom.The utility model mainly comprises cart rotation and mobile device, clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit.
Wherein, described cart rotation and mobile device comprise: 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, and the clamp rear end is connected with the claw beam front end by hinge, and the claw beam front end connects firmly in the centre bore of front connector.
Described lifting device comprises: front connector, rear connectors, front lift arm, suspension lift arm, a pair of front overhang peg, pair of links, 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 other end links to each other with an end of front lift arm by hinge, the other end of this front lift arm links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this lifting linear actuator is connected through the hinge on large vehicle carriage two side, the both sides of rear connectors connect firmly with an end of a pair of rear left and right sides linear actuator respectively, should be hinged on the suspension lift arm by rear left and right sides linear actuator, this position that hangs lift arm links to each other with pair of links by hinge, and this connecting rod is connected through the hinge on large vehicle carriage two side.
Described elevation mount comprises: a pair of pitching linear actuator.One end of a pair of pitching linear actuator links to each other by the other end of hinge with above-mentioned suspension lift arm respectively, and its other end 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 a pair of front and back linear actuator links to each other with a position of front overhang peg by hinge respectively, and its other end is connected through the hinge on large vehicle carriage two side.
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 lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, pair of links, 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 is synchronized with the movement up and down, thereby driving the claw beam front end moves up and down, simultaneously a pair of pitching linear actuator promotes the suspension lift arm, drive a pair of rear left and right sides linear actuator and rear connectors, 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 large chassis and large vehicle carriage by travel mechanism first, drive forging manipulator integral body is done and is seesawed, when forging manipulator clamp during near desired location, 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 claw beam and clamp and do and seesaw.Elevating movement process: a pair of pitching linear actuator promotion suspension lift arm, drive a pair of rear left and right sides linear actuator and rear connectors, and then drive the claw beam rear end and do and face upward up and down the motion of bowing, and the hinge axes position that the front left and right linear drives links to each other with the front overhang peg remains unchanged, thereby drive claw beam and clamp are done elevating movement.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, employing contains the mechanism of hanging lift arm, has increased the space of claw beam and clamp.
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, clamp has six-freedom degree, but clamping is forged under various orientation and various attitude flexibly by the forger part.
4, 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: left and right sides linear actuator, the front connector of 11-, 12-clamp, 13-rear connectors, 14-claw beam, 15-front lift arm, 16-hang lift arm 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-connecting rod, 9-front left and right linear actuator, the 10-.
The specific embodiment
In a kind of simplified schematic diagram that contains the forging manipulator that hangs lift arm illustrated in figures 1 and 2, the cart bottom of frame links to each other with large chassis by hinge, and the wheel symmetry is installed in the bottom of large chassis.The clamp rear end links to each other with the claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, the both sides of connector and an end of a pair of front left and right linear actuator connect firmly before being somebody's turn to do, this front left and right linear actuator is hinged on a pair of front overhang peg, the other end of this front overhang peg links to each other with an end of front lift arm by hinge, the other end of this front lift arm links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this lifting linear actuator is connected on the large vehicle carriage two side by hinge D, one position of above-mentioned front lift arm is connected on the large vehicle carriage two side by hinge A, one position of above-mentioned front overhang peg links to each other 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 on the large vehicle carriage two side by hinge C, above-mentioned claw beam rear end connects firmly in the central through hole of rear connectors, 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 suspension lift arm by rear left and right sides linear actuator, this other end that hangs lift arm links to each other with an end of a pair of pitching linear actuator by hinge, the other end of this pitching linear actuator is connected on the large vehicle carriage two side by hinge E, one position of above-mentioned suspension lift arm links to each other with an end of pair of links by hinge, and the other end of this connecting rod is connected on the large vehicle carriage two side by hinge B.
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, pair of links, 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. one kind contains the forging manipulator that hangs lift arm, 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 links to each other with the claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, should before the both sides 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, the other end of this a pair of front overhang peg links to each other with an end of front lift arm by hinge respectively, the other end of this 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 respectively on large vehicle carriage two side, one position of above-mentioned front lift arm is connected through the hinge on large vehicle carriage two side, one position of above-mentioned a pair of front overhang peg links to each other 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 through the hinge respectively on large vehicle carriage two side, above-mentioned claw beam rear end connects firmly in the central through hole of rear connectors, the both sides of this 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 and hangs on the lift arm, this other end that hangs lift arm links to each other with an end of a pair of pitching linear actuator by hinge respectively, the other end of this a pair of pitching linear actuator is connected through the hinge respectively on large vehicle carriage two side, one position of above-mentioned suspension lift arm links to each other with an end of pair of links by hinge, and the other end of this pair of links is connected through the hinge respectively on large vehicle carriage two side.
2. according to claims 1 described a kind of forging manipulator that hangs lift arm that contains, it is characterized in that: described 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, pair of links, 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 201220559804 CN202894188U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator including hanging lift arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559804 CN202894188U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator including hanging lift arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202894188U true CN202894188U (en) | 2013-04-24 |
Family
ID=48114907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220559804 Withdrawn - After Issue CN202894188U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator including hanging lift arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202894188U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935479A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Forging manipulator with suspension lifting arm |
-
2012
- 2012-10-30 CN CN 201220559804 patent/CN202894188U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935479A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Forging manipulator with suspension lifting arm |
| CN102935479B (en) * | 2012-10-30 | 2014-11-12 | 燕山大学 | Forging manipulator with suspension lifting arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102935481B (en) | Suspension type forging manipulator of lifting mechanism | |
| CN202894178U (en) | Forging manipulator of six degrees of freedom | |
| CN202894188U (en) | Forging manipulator including hanging lift arm | |
| CN102921871B (en) | Multi-suspension-rod combined forging manipulator | |
| CN102935475B (en) | Six-degree-of-freedom forging manipulator with single lifting arm | |
| CN202894195U (en) | Double suspension rods type six free degrees forging operating machine | |
| CN202894193U (en) | Lifting mechanism suspension type forging manipulator | |
| CN102935482B (en) | Synchronous connecting rod forwardly-connected forging manipulator | |
| CN102935476B (en) | Partial-movement-decoupled forging manipulator | |
| CN202894184U (en) | Single lift arm six-degree-freedom forging manipulator | |
| CN102935477B (en) | Six-degree-of-freedom forging manipulator | |
| CN202894183U (en) | Multi-hanging-rod combined-type forging manipulator | |
| CN202894185U (en) | Forging manipulator of six degrees of freedom | |
| CN202894186U (en) | Forging manipulator capable of reducing movement energy consumption of clamp | |
| CN202894187U (en) | Forging manipulator capable of optimizing and lifting drive | |
| CN202963351U (en) | Componental movement decoupling type forging manipulator | |
| CN102935479B (en) | Forging manipulator with suspension lifting arm | |
| CN202894194U (en) | Synchronous connecting rod forward-connecting forging manipulator | |
| CN102941302B (en) | Forging manipulator capable of optimizing and improving driving | |
| CN103537604B (en) | A kind of six-freedom-degree manipulator for forging | |
| CN102935478B (en) | Forming manipulator capable of reducing clamp moving energy consumption | |
| CN202894191U (en) | Less coupling motor type forging manipulator | |
| CN202894190U (en) | Sport less-coupling type six-freedom-degree forging operation machine | |
| CN102935480B (en) | Little kinematic coupling type six-degree-of-freedom forging manipulator | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device |
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: 20141112 |
|
| RGAV | Abandon patent right to avoid regrant |