CN204770427U - Forge and press high -efficient heavily loaded work robot and go up connecting rod in same direction as antithetical couplet formula hoist mechanism - Google Patents
Forge and press high -efficient heavily loaded work robot and go up connecting rod in same direction as antithetical couplet formula hoist mechanism Download PDFInfo
- Publication number
- CN204770427U CN204770427U CN201520361117.2U CN201520361117U CN204770427U CN 204770427 U CN204770427 U CN 204770427U CN 201520361117 U CN201520361117 U CN 201520361117U CN 204770427 U CN204770427 U CN 204770427U
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- CN
- China
- Prior art keywords
- upper plate
- lift cylinder
- connecting rod
- heavily loaded
- work robot
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- Expired - Fee Related
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Abstract
The utility model relates to a forge and press high -efficient heavily loaded work robot and go up connecting rod in same direction as antithetical couplet formula hoist mechanism. Preceding promotions jar including setting up on the organism promotes the jar after and, preceding promotion jar upper end is on through the articulated upper plate in the front of pin joint to be promoted the jar upper end after, and hinges on the upper plate of back through the pin joint, both connect preceding upper plate, back upper plate through rotatable pull rod. The utility model discloses adopted the syntropy to arrange in front and back hoist mechanism's the design, made manipulator for forging promote jars by four when promoting and drive simultaneously to its orientation keeps the level always. This kind of mode makes the mutual decoupling zero of moving of the 6 DOF of manipulator claw beam buffering of promotion, every single move and the forging direction of feed of removal and swing and claw beam about.
Description
Technical field
The utility model relates to connecting rod on the efficient heavily loaded Work robot of a kind of forging and stamping and, along connection formula hoisting mechanism, belongs to machine mounting technology field.
Background technology
Forge and press in efficient heavily loaded Work robot, four lift cylinder drive a lifter motion to there is the problem of redundant drive simultaneously, if four lift cylinder can not co-operating, so just there will be poor synchronization, affect the problem of raising efficiency.
Utility model content
The utility model for above-mentioned defect, object is to provide that a kind of structure is simple, on the efficient heavily loaded Work robot of forging and stamping of reliable and stable work connecting rod along connection formula hoisting mechanism.
The technical solution adopted in the utility model is for this reason: the utility model comprises and is arranged on front lift cylinder on body and rear lift cylinder;
Described front lift cylinder upper end is hinged on front upper plate by pin joint, and rear lift cylinder upper end is hinged on rear upper plate by pin joint;
Described front upper plate, both rear upper plates are connected by rotating pull bar.
Described front lift cylinder arranges force snesor, described rear lift cylinder arranges force snesor and displacement transducer.
Comprise lift cylinder after symmetrically arranged two front lift cylinder and two, and be connected on corresponding symmetrically arranged pull bar respectively by symmetrically arranged front upper plate, rear upper plate.
The utility model has the advantages that: 1) hoisting mechanism design on have employed and arrange in the same way, forging manipulator is driven by four lift cylinder when promoting simultaneously, and its direction keeps level always.This mode makes moving left and right of manipulator claw beam and swings mutual decoupling zero of moving with the 6 DOF of the buffering of the lifting of claw beam, pitching and forging direction of feed;
2) before and after, lift cylinder adopts the method for force-location mix control, makes overall control not need servo-actuated SERVO CONTROL, controls simple and convenient;
3) before and after, lift cylinder adopts the method for force-location mix control, and promote load before and after making impartial, car body stress equalization, substantially reduce the size of lift cylinder, integrated model is compact, lightweight.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
1 being rear lift cylinder for rising cylinder, 3 premised on body, 2 in figure, 4 being front upper plate, 5 be rear upper plate, 6 be pull bar.
Detailed description of the invention
The utility model comprises and is arranged on front lift cylinder 2 on body 1 and rear lift cylinder 3;
Described front lift cylinder 2 upper end is hinged on front upper plate 4 by pin joint, and rear lift cylinder 3 upper end is hinged on rear upper plate 5 by pin joint;
Described front upper plate 4, both rear upper plates 5 are connected by rotating pull bar 6.
Described front lift cylinder 2 arranges force snesor, described rear lift cylinder 3 arranges force snesor and displacement transducer.
Further the utility model comprises lift cylinder 3 after symmetrically arranged two front lift cylinder 2 and two, and is connected on corresponding symmetrically arranged pull bar 6 respectively by symmetrically arranged front upper plate 4, rear upper plate 5.
Front upper plate 4 of the present utility model, rear upper plate 5 are and are horizontally disposed with, and realize it move up and down but the state that can keep level all the time by pull bar 6.
Claims (3)
1. forge and press connecting rod on efficient heavily loaded Work robot, along connection formula hoisting mechanism, to it is characterized in that, comprise and be arranged on front lift cylinder on body and rear lift cylinder;
Described front lift cylinder upper end is hinged on front upper plate by pin joint, and rear lift cylinder upper end is hinged on rear upper plate by pin joint;
Described front upper plate, both rear upper plates are connected by rotating pull bar.
2. on the efficient heavily loaded Work robot of forging and stamping according to claim 1, connecting rod, along connection formula hoisting mechanism, is characterized in that, described front lift cylinder arranges force snesor, described rear lift cylinder arranges force snesor and displacement transducer.
3. on the efficient heavily loaded Work robot of forging and stamping according to claim 1 connecting rod along connection formula hoisting mechanism, it is characterized in that, comprise lift cylinder after symmetrically arranged two front lift cylinder and two, and be connected on corresponding symmetrically arranged pull bar respectively by symmetrically arranged front upper plate, rear upper plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520361117.2U CN204770427U (en) | 2015-05-31 | 2015-05-31 | Forge and press high -efficient heavily loaded work robot and go up connecting rod in same direction as antithetical couplet formula hoist mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520361117.2U CN204770427U (en) | 2015-05-31 | 2015-05-31 | Forge and press high -efficient heavily loaded work robot and go up connecting rod in same direction as antithetical couplet formula hoist mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204770427U true CN204770427U (en) | 2015-11-18 |
Family
ID=54510553
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520361117.2U Expired - Fee Related CN204770427U (en) | 2015-05-31 | 2015-05-31 | Forge and press high -efficient heavily loaded work robot and go up connecting rod in same direction as antithetical couplet formula hoist mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204770427U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106238649A (en) * | 2016-08-31 | 2016-12-21 | 上海交通大学 | There is the heavily loaded forging operation machine people of redundancy feature |
| CN106238648A (en) * | 2016-08-31 | 2016-12-21 | 上海交通大学 | A kind of heavily loaded forging operation machine people of mirror-image arrangement lowering or hoisting gear |
| CN106270344A (en) * | 2016-08-30 | 2017-01-04 | 上海交通大学 | Heavy duty forging operation machine people |
| CN106378408A (en) * | 2016-08-30 | 2017-02-08 | 上海交通大学 | Novel energy-saving heavy-load forging robot |
-
2015
- 2015-05-31 CN CN201520361117.2U patent/CN204770427U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106270344A (en) * | 2016-08-30 | 2017-01-04 | 上海交通大学 | Heavy duty forging operation machine people |
| CN106378408A (en) * | 2016-08-30 | 2017-02-08 | 上海交通大学 | Novel energy-saving heavy-load forging robot |
| CN106270344B (en) * | 2016-08-30 | 2020-04-24 | 上海交通大学 | Heavy-load forging operation robot |
| CN106238649A (en) * | 2016-08-31 | 2016-12-21 | 上海交通大学 | There is the heavily loaded forging operation machine people of redundancy feature |
| CN106238648A (en) * | 2016-08-31 | 2016-12-21 | 上海交通大学 | A kind of heavily loaded forging operation machine people of mirror-image arrangement lowering or hoisting gear |
| CN106238649B (en) * | 2016-08-31 | 2019-11-01 | 上海交通大学 | Heavily loaded forging operation machine people with redundancy feature |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151118 |