CN202894192U - Motion partly decoupling forging manipulator - Google Patents
Motion partly decoupling forging manipulator Download PDFInfo
- Publication number
- CN202894192U CN202894192U CN 201220560655 CN201220560655U CN202894192U CN 202894192 U CN202894192 U CN 202894192U CN 201220560655 CN201220560655 CN 201220560655 CN 201220560655 U CN201220560655 U CN 201220560655U CN 202894192 U CN202894192 U CN 202894192U
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- lift arm
- linear actuator
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- turning joint
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Abstract
The utility model discloses a motion partly decoupling forging manipulator, according to the forging manipulator, a clamp is hinged with a nippling lever, the nippling lever is fixedly connected with the middle of a front coordinating rod, a front hanging rod is hinged with the front coordinating rod, a front connecting part is hinged with a front sliding rod and the front hanging rod, a front left-and-right straight line driver is respectively fixedly connected with a front lift arm and the front sliding rod, a synchronous connecting rod is respectively hinged with the front lift arm and a rear lift arm, a rear left-and-right straight line driver is respectively fixedly connected with the rear lift arm and a rear sliding rod, a pitching straight line driver is respectively hinged with the rear sliding rod and the rear end of the nippling lever, the front lift arm and the rear lift arm are respectively connected with a rack, a front-and-rear straight line driver is hinged with the front hanging rod and a rear coordinating rod which is hinged with the rack, and a lifting straight line driver is hinged with the rear lift arm and the rack. The motion partly decoupling forging manipulator is high in deflection accuracy, partly decoupled in motion, easy to analyze in terms of motion and dynamics, and convenient to operate.
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.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 retrieval, 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 a simple motion finishing clamp needs All Drives to cooperate together just and can finish, thereby will adjust the accurate pose of clamp, and comparatively difficulty operates, increase the working time, reduced operating efficiency.Retrieval finds that also publication number is that CN 201192720Y discloses a kind of shaftless forging manipulator, and its mechanism's yaw motion is by the cart unitary rotation, realize the deflection of clamp, and mechanism itself do not possess this free degree of deflection, therefore, among a small circle deflection precision is not high, affects the forging process quality.
Summary of the inventionThe purpose of this utility model is to provide a kind of componental movement decoupling zero, can increase work efficiency and forging manipulator that the deflection precision is high.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: front lift arm, rear lift arm, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of lifting linear actuator, a pair of front connector; 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, a pair of rear left and right sides linear actuator.
Wherein, the clamp rear end links to each other with the claw beam front end by turning joint, this 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 front connector by turning joint respectively, the other end of this a pair of front connector is connected on the front slide bar by turning joint respectively, 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 with an end of front lift arm respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear actuator respectively, the other end of this a pair of rear left and right sides linear actuator and the two ends of rear slide bar connect firmly, one end of pitching linear actuator is connected on the above-mentioned rear slide bar by turning joint, its other end links to each other with the rear end of above-mentioned claw beam by the ball pair, one position of above-mentioned front lift arm and a position of rear lift arm link to each other with frame by turning joint respectively, one position of above-mentioned front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator respectively, the other end of this a pair of front and back linear actuator links to each other with an end of rear coordination bar by ball pivot respectively, should link to each other with frame by turning joint at rear middle part of coordinating bar, another position of above-mentioned rear lift arm links to each other with an end of a pair of lifting linear actuator by turning joint respectively, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint respectively.
The elevating movement process of the utility model forging manipulator: lift arm after a pair of lifting linear actuator promotes, drive a pair of rear left and right sides linear actuator, the motion of pitching linear actuator, and then drive claw beam rear end moves up and down, pass through simultaneously synchronising (connecting) rod, drive front lift arm, front left and right linear actuator, front slide bar, front connector, the motion of front overhang peg, and then drive the claw beam front end and move up and down, thereby realize that claw beam and clamp do the horizontal lifting motion.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, and drive claw beam and clamp are done and seesawed.The elevating movement process: the pitching linear actuator promotes the claw beam rear end, and drive claw beam rear end is done and faced upward up and down the motion of bowing, and claw beam front end and front overhang peg position remain unchanged, and do elevating movement thereby drive clamp.The deflection motion process: slide bar before a pair of front left and right linear actuator promotes, drive a pair of front connector and a pair of front overhang peg, realize transverse shifting from the anterior claw beam that drives of claw beam; Slide bar after a pair of rear left and right sides linear actuator promotes drives the pitching linear actuator, drives claw beam from the claw beam rear portion and realizes transverse shifting.Consistent with a pair of rear left and right sides linear actuator driving direction and big or small when identical when a pair of front left and right linear actuator, claw beam is realized offset movement; When a pair of front left and right linear actuator and a pair of after the opposite or driving amount of left and right sides linear actuator driving direction not simultaneously, claw beam is realized oscillating motion.Clamp rotary course: 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, only have the lifter motion coupling, and degree of coupling is little, other each main motion is all full decoupled, so that simple to operate.
2, self mechanism possesses the deflection free degree, and among a small circle deflection precision is high, has improved the forging process quality.
Description of drawings
Fig. 1 is schematic perspective view of the present utility model.
Among the figure: coordinate behind linear actuator, 4-pitching linear actuator, the 5-before and after the 1-clamp, 2-claw beam, 3-bar, 6-lifting linear actuator,, coordinate bar before connector, 16-front overhang peg, the 17-before slide bar, the 15-before left and right sides linear actuator, 10-synchronising (connecting) rod, 11-frame, 12-front lift arm, 13-front left and right linear actuator, the 14-behind slide bar, the 9-behind lift arm, the 8-behind the 7-.
The specific embodiment
In the schematic diagram of mechanism of a kind of motion parts decoupling type forging manipulator forging manipulator shown in Figure 1, clamp 1 rear end links to each other with claw beam 2 front ends by turning joint, this claw beam connects firmly near a position of clamp and the middle part of front coordination bar 17, should frontly coordinate the bar two ends links to each other with an end of a pair of front overhang peg 16 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 front connector 15 by turning joint respectively, the other end of this a pair of front connector is connected on the front slide bar 14 by turning joint respectively, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator 13 respectively, the other end of this a pair of front left and right linear actuator connects firmly with an end of front lift arm 12 respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod 10 by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm 7 by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear actuator 9 respectively, the other end of this a pair of rear left and right sides linear actuator and the two ends of rear slide bar 8 connect firmly, one end of pitching linear actuator 4 is connected on the above-mentioned rear slide bar by turning joint, this pitching linear actuator other end links to each other with the rear end of above-mentioned claw beam by ball pivot, one position of above-mentioned front lift arm and a position of rear lift arm link to each other with frame 11 by turning joint respectively, one position of above-mentioned front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator 3 respectively, the other end of this a pair of front and back linear actuator links to each other by the two ends of ball pivot with rear coordination bar 5 respectively, should link to each other with frame by turning joint at rear middle part of coordinating bar, another position of above-mentioned a pair of rear lift arm links to each other with an end of a pair of lifting linear actuator 6 by turning joint respectively, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint respectively.
Claims (1)
1. motion parts decoupling type forging manipulator, it is characterized in that: the clamp rear end links to each other with the claw beam front end by turning joint, this 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 front connector by turning joint respectively, the other end of this a pair of front connector is connected on the front slide bar by turning joint respectively, 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 with an end of front lift arm respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear actuator respectively, the other end of this a pair of rear left and right sides linear actuator and the two ends of rear slide bar connect firmly, one end of pitching linear actuator is connected on the above-mentioned rear slide bar by turning joint, its other end links to each other with the rear end of above-mentioned claw beam by the ball pair, one position of above-mentioned front lift arm and a position of rear lift arm link to each other with frame by turning joint respectively, one position of above-mentioned front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator respectively, the other end of this a pair of front and back linear actuator links to each other with an end of rear coordination bar by ball pivot respectively, should link to each other with frame by turning joint at rear middle part of coordinating bar, another position of above-mentioned rear lift arm links to each other with an end of a pair of lifting linear actuator by turning joint respectively, and the other end of this a pair of lifting linear actuator links to each other with frame by turning joint respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220560655 CN202894192U (en) | 2012-10-30 | 2012-10-30 | Motion partly decoupling forging manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220560655 CN202894192U (en) | 2012-10-30 | 2012-10-30 | Motion partly decoupling forging manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202894192U true CN202894192U (en) | 2013-04-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220560655 Withdrawn - After Issue CN202894192U (en) | 2012-10-30 | 2012-10-30 | Motion partly decoupling forging manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202894192U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941304A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Decoupling type forging manipulator for motion part |
-
2012
- 2012-10-30 CN CN 201220560655 patent/CN202894192U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102941304A (en) * | 2012-10-30 | 2013-02-27 | 燕山大学 | Decoupling type forging manipulator for motion part |
| CN102941304B (en) * | 2012-10-30 | 2015-06-10 | 燕山大学 | Decoupling type forging manipulator for motion part |
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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: 20150610 |
|
| RGAV | Abandon patent right to avoid regrant |