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
- Authority
- CN
- China
- Prior art keywords
- pair
- linear actuator
- turning joint
- lift arm
- slide bar
- 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- Withdrawn - After Issue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
Provided is a less coupling motor type forging manipulator. A back end of a clamp is connected with a claw lever in a hinged mode; a pitching linear actuator and the claw lever are connected with a back slide bar in a hinged mode, both ends of the back slide bar are fixedly connected with a back left and right linear actuator which is fixedly connected on a back lift arm. The back lift arm and a rack are connected with a synchronous connecting rod in a hinged mode. The synchronous connecting rod is connected with a front lift in a hinged mode. The front lift arm and the rack are connected with a lifting linear actuator in a hinged mode. The lifting linear actuator is connected with the rack in a hinged mode. A front mounting rod is connected with a front adapting piece in a hinged mode and connected with both sides of a front coordinating rod through a spherical hinge. The front coordinating rod is fixedly connected with the claw lever; the front connecting piece is connected with the front slide bar in a hinged mode. Both ends of the front slide bar are fixedly connected on a front left-and-right linear actuator. The front left-and-right linear actuator is fixedly connected on the synchronous connecting rod. A front-and-back linear actuator and the front mounting rod are connected with two ends of the back coordinating rod in a hinged mode through the spherical hinge, and the back coordinating rod is connected with the rack in a hinged mode. The less coupling motor type forging manipulator has the advantages of being simple in structure, less in kinematic coupling, large in working space, high in dexterity and the forging quality of forge pieces is improved.
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)
1. one kind is lacked coupled motions swaged forging manufacturing operation machine, it is characterized in that: 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.
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 |
Family
ID=48114910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220560611 Withdrawn - After Issue CN202894191U (en) | 2012-10-30 | 2012-10-30 | Less coupling motor type forging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| 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 |
| CN103381465A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
| CN103381466A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
-
2012
- 2012-10-30 CN CN 201220560611 patent/CN202894191U/en not_active Withdrawn - After Issue
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 |
| CN103381465A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Forging manipulator lifting mechanism with underneath type front lateral-moving linear actuators |
| CN103381466A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
| CN103381466B (en) * | 2013-07-01 | 2015-06-10 | 燕山大学 | Parallel connecting rod type forging manipulator with down lateral-movement linear driver |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101279353B (en) | Equidirectional type six-freedom-degree manipulator for forging | |
| CN102921867B (en) | Forging manipulator | |
| CN102921869B (en) | Double-lift driven forging manipulator | |
| CN202894191U (en) | Less coupling motor type forging manipulator | |
| CN202894178U (en) | Forging manipulator of six degrees of freedom | |
| CN202894181U (en) | Forging manipulator capable of optimizing and lifting motion | |
| CN103537604B (en) | A kind of six-freedom-degree manipulator for forging | |
| CN102941303A (en) | Forging manipulator with few coupled motions | |
| CN202894180U (en) | Double lifting drive forging manipulator | |
| CN103537598B (en) | Forging manipulator with optimized deflector | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN202894182U (en) | Forging manipulator | |
| CN102935480B (en) | Little kinematic coupling type six-degree-of-freedom forging manipulator | |
| CN203091651U (en) | Forging manipulator capable of being lifted in straight line mode | |
| CN202963351U (en) | Componental movement decoupling type forging manipulator | |
| CN203091650U (en) | Double-drive forging manipulator achieving straight-line lifting | |
| CN202894189U (en) | Lift arm suspension type forging manipulator | |
| CN102935476A (en) | Partial-movement-decoupled forging manipulator | |
| CN102921868B (en) | Six-degree-of-freedom forging manipulator | |
| CN202894179U (en) | Single lifting arm forging manipulator | |
| CN202894183U (en) | Multi-hanging-rod combined-type forging manipulator | |
| CN203091649U (en) | Forging manipulator achieving straight-line lifting under redundant drive | |
| CN202894192U (en) | Motion partly decoupling forging manipulator | |
| CN102921870B (en) | Forging manipulator capable of optimizing lifting motion | |
| CN202894190U (en) | Sport less-coupling type six-freedom-degree forging operation machine |
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 |