CN202894191U - Less coupling motor type forging manipulator - Google Patents
Less coupling motor type forging manipulator Download PDFInfo
- Publication number
- CN202894191U CN202894191U CN 201220560611 CN201220560611U CN202894191U CN 202894191 U CN202894191 U CN 202894191U CN 201220560611 CN201220560611 CN 201220560611 CN 201220560611 U CN201220560611 U CN 201220560611U CN 202894191 U CN202894191 U CN 202894191U
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- Prior art keywords
- pair
- rod
- hinged
- lifting arm
- frame
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- Expired - Lifetime
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- 238000005242 forging Methods 0.000 title claims abstract description 24
- 238000010168 coupling process Methods 0.000 title claims abstract description 5
- 238000005859 coupling reaction Methods 0.000 title claims abstract description 5
- 230000008878 coupling Effects 0.000 title abstract description 3
- 230000001360 synchronised effect Effects 0.000 claims abstract description 8
- 239000000725 suspension Substances 0.000 claims abstract 3
- 230000033001 locomotion Effects 0.000 claims description 22
- 230000008901 benefit Effects 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 22
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000012423 maintenance Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- Forging (AREA)
Abstract
一种少耦合运动型锻造操作机，夹钳后端与钳杆铰接，俯仰直线驱动器与钳杆和后滑杆铰接，后滑杆两端固联在后左右直线驱动器上，后左右直线驱动器固联在后提升臂上，后提升臂与机架和同步连杆铰接，同步连杆与前提升臂铰接，前提升臂与机架和升降直线驱动器的铰接，升降直线驱动器与机架铰接，前悬挂杆与前连接件铰接，且通过球铰与前协调杆两侧连接，该前协调杆与钳杆固联，前连接件与前滑杆铰接，前滑杆两端固联在前左右直线驱动器上，前左右直线驱动器固联在同步连杆上，前后直线驱动器与前悬挂杆和后协调杆两端通过球铰连接，后协调杆与机架铰接。本实用新型结构简单，运动耦合少，工作空间大，灵活度高，能提高锻件锻压质量。
A less-coupling sports forging manipulator, the rear end of the clamp is hinged to the clamp rod, the pitch linear drive is hinged to the clamp rod and the rear sliding rod, the two ends of the rear sliding rod are fixedly connected to the rear left and right linear drives, and the rear left and right linear drives are fixed. Connected to the rear lifting arm, the rear lifting arm is hinged with the frame and the synchronous link, the synchronous link is hinged with the front lifting arm, the front lifting arm is hinged with the frame and the lifting linear drive, the lifting linear drive is hinged with the frame, and the front The suspension rod is hinged to the front connecting piece, and is connected to both sides of the front coordination rod through a ball joint. The front coordination rod is fixedly connected to the clamp rod, and the front connecting piece is hinged to the front sliding rod. The two ends of the front sliding rod are fixedly connected to the front left and right straight lines On the driver, the front left and right linear drivers are fixedly connected on the synchronous connecting rod, the front and rear linear drivers are connected with the front suspension rod and the two ends of the rear coordination rod through ball joints, and the rear coordination rod is hinged with the frame. The utility model has the advantages of simple structure, less kinematic coupling, large working space and high flexibility, and can improve the forging quality of forgings.
Description
Technical fieldThe utility model relates to a kind of forging manipulator.
Background technologyForging manipulator belongs to weight equipment, generally adopts hydraulic-driven, and it is more simple better that it drives control inputs.In general, forging manipulator need to realize comprising seven forging operation functions such as jaw clamping, claw beam rotation, claw beam lifting, claw beam pitching, claw beam are traversing, claw beam swing, large vehicle walking.Find through the retrieval to existing forging operation machine technology, publication number is that the Chinese patent of CN 1745937 A discloses a kind of six-dimensional parallel forging operator, the claw beam of this manipulator can be regarded the moving platform of parallel institution as, although increased rigidity and the bearing capacity of mechanism, but its complex structure, processing and assembling be difficulty comparatively, and the working space of pawl pincers is little, and flexibility ratio is poor, behind the clamping forge piece, the forging range of movement is too small, can not satisfy processing request, especially so that driving input degree of coupling is large, during work, arbitrary one-dimensional motion all needs six drivings to act on simultaneously, is difficult for realizing.Find also that through retrieval publication number is a kind of shaftless forging manipulator that the Chinese patent of CN 201192720 Y also discloses, lack transverse movement, in forging process, the kicking motion that the sudden change external force of horizontal direction can not adapt to, and then affected the forging and pressing quality of forging.
Summary of the inventionThe purpose of this utility model is to provide few coupled motions swaged forging manufacturing operation machine that a kind of mechanism is simple, working space is large, flexibility ratio is high, the raising forging forges and presses quality.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 front overhang peg, front lift arm, rear lift arm, a pair of lifting linear actuator, a pair of synchronising (connecting) rod, a pair of front connector, front coordination bar; 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, front slide bar, a pair of rear left and right sides linear actuator, rear slide bar.
Wherein, the rear end of clamp is connected with the front end of claw beam by turning joint, the rear end of this claw beam 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 by turning joint, the two ends of slide bar and an end of a pair of rear left and right sides linear actuator connect firmly after being somebody's turn to do, the other end of this a pair of rear left and right sides linear actuator connects firmly with rear lift arm respectively, an end of lift arm is connected with frame by turning joint after being somebody's turn to do, the other end of above-mentioned rear lift arm is connected with a pair of synchronising (connecting) rod respectively by turning joint, one end of this a pair of synchronising (connecting) rod is connected with front lift arm respectively by hinge, one end of this front lift arm is connected with frame by turning joint, the other end of above-mentioned lift arm is connected 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 is connected with frame by turning joint, above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar, should be connected with an end of a pair of front overhang peg respectively by ball pivot at front two ends of coordinating bar, the other end of this a pair of front overhang peg is connected with an end of a pair of front connector respectively by turning joint, the other end of this a pair of front connector is connected on the front slide bar by turning joint, one end of a pair of front left and right linear actuator connects firmly with the two ends of above-mentioned front slide bar respectively, the other end of this a pair of front left and right linear actuator connects firmly with the other end of above-mentioned a pair of synchronising (connecting) rod respectively, one position of above-mentioned a pair of front overhang peg is connected 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 is connected with the two ends of rear coordination bar respectively by ball pivot, and the middle part of coordinating bar after this is connected 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 rear lift arm by a pair of synchronising (connecting) rod, thereby slide bar, front connector, front overhang peg, front coordination bar are done up and down and are synchronized with the movement before driving, the pitching linear actuator that drives simultaneously the former length of maintenance is synchronized with the movement up and down, moves up and down thereby drive claw beam.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, back and forth movement before and after connector is done before driving, and then drive claw beam and clamp and do and seesaw.The elevating movement process: the pitching linear motion driver 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 front rod and a pair of front overhang peg, realized transverse movement from the anterior claw beam that drives of claw beam; Slide bar moved after rear left and right sides linear actuator promoted, and drove the pitching linear actuator and moved, and 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 rotation process: 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, simple in structure, be convenient to processing, assembling and maintenance repair and maintenance.
2, the clamp working space is large, and flexibility ratio is high, but clamping forge piece reaches Working position fast.
3, have horizontal kicking motion, to the kicking motion that the sudden change external force of horizontal direction in the forging process can adapt to fast, improve forging forging and pressing quality.
Description of drawings
Fig. 1 is schematic perspective view of the present utility model.
Among the figure: coordinate behind linear actuator, the 5-before and after the 1-clamp, 2-claw beam, 3-pitching linear actuator, 4-to coordinate bar before connector before slide bar before slide bar behind left and right sides linear actuator behind lift arm behind bar, the 6-, the 7-, the 8-, 9-synchronising (connecting) rod, 10-front lift arm, 11-front left and right linear actuator, the 12-, the 13-, 14-lifting linear actuator, 15-front overhang peg, 16-frame, the 17-.
The specific embodiment
In the simplified schematic diagram of a kind of few coupled motions swaged forging manufacturing operation machine shown in Figure 1, the rear end of clamp 1 is connected by the front end of turning joint with claw beam 2, the rear end of this claw beam links to each other with an end of pitching linear actuator 3 by ball pivot, the other end of this pitching linear actuator links to each other with rear slide bar 8 by turning joint, the two ends of slide bar and an end of a pair of rear left and right sides linear actuator 7 connect firmly after being somebody's turn to do, the other end and the rear lift arm 6 of left and right sides linear actuator connect firmly after being somebody's turn to do, an end of lift arm is connected with frame 16 by turning joint after being somebody's turn to do, the other end of above-mentioned rear lift arm is connected with a pair of synchronising (connecting) rod 9 by turning joint, one end of this synchronising (connecting) rod is connected with front lift arm 10 by hinge, one end of this front lift arm is connected with frame by turning joint, the other end of above-mentioned lift arm is connected with an end of a pair of lifting linear actuator 14 by turning joint, the other end of this lifting linear actuator is connected with frame by turning joint, above-mentioned claw beam connects firmly near a position of clamp and the middle part of front coordination bar 17, should be connected with an end of a pair of front overhang peg 15 respectively by ball pivot at front two ends of coordinating bar, the other end of this front overhang peg is connected with an end of a pair of front connector 13 respectively by turning joint, the other end of this a pair of front connector is connected on the front slide bar 12 by turning joint, one end of a pair of front left and right linear actuator 11 connects firmly with the two ends of above-mentioned front slide bar respectively, the other end of this front left and right linear actuator and the other end of above-mentioned synchronising (connecting) rod connect firmly, the middle part of above-mentioned front overhang peg is connected by the end of ball pivot with a pair of front and back linear actuator 4, the other end of this front and back linear actuator is connected by the two ends of ball pivot with rear coordination bar 5, and the middle part of coordinating bar after this is connected with frame by turning joint.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220560611 CN202894191U (en) | 2012-10-30 | 2012-10-30 | Less coupling motor type forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220560611 CN202894191U (en) | 2012-10-30 | 2012-10-30 | Less coupling motor type forging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202894191U true CN202894191U (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220560611 Expired - Lifetime CN202894191U (en) | 2012-10-30 | 2012-10-30 | Less coupling motor type forging manipulator |
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| Country | Link |
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| CN (1) | CN202894191U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941303A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Forging manipulator with few coupled motions |
| CN103381466A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
| CN103381465A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
-
2012
- 2012-10-30 CN CN 201220560611 patent/CN202894191U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941303A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Forging manipulator with few coupled motions |
| CN102941303B (en) * | 2012-10-30 | 2015-01-07 | 燕山大学 | Forging manipulator with few coupled motions |
| CN103381466A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
| CN103381465A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
| CN103381466B (en) * | 2013-07-01 | 2015-06-10 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
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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: 20150107 |
|
| RGAV | Abandon patent right to avoid regrant |