CN216126504U

CN216126504U - Lifting mechanism of forging manipulator

Info

Publication number: CN216126504U
Application number: CN202121756507.1U
Authority: CN
Inventors: 田巍
Original assignee: Shenyang Kailong Jiuying Technology Co ltd
Current assignee: Shenyang Kailong Jiuying Technology Co ltd
Priority date: 2021-07-30
Filing date: 2021-07-30
Publication date: 2022-03-25
Anticipated expiration: 2031-07-30

Abstract

The utility model relates to a lifting mechanism of a forging manipulator, wherein a lifting driving assembly comprises a lifting driving device, rollers, a first steel wire rope and a second steel wire rope, the rollers are arranged on two sides of the lifting driving device, one end of the first steel wire rope and one end of the second steel wire rope are wound on the corresponding rollers, a steering wheel is arranged on a lifting driving support, a first connecting seat is arranged at one end of a clamp frame, a second connecting seat is arranged at the other end of the clamp frame, the first steel wire rope is fixedly connected with the corresponding first connecting seat after bypassing the corresponding steering wheel, the second steel wire rope is fixedly connected with the corresponding second connecting seat after bypassing the corresponding steering wheel, distance sensors are hinged to the lower ends of the first connecting seat and the second connecting seat, and a hydraulic cylinder is arranged on a traveling frame of a vehicle body. The utility model can quickly and stably realize the fixation of the clamp frame while ensuring the lifting range of the clamp frame, can accurately control the inclination adjustment of the clamp frame, and improves the production efficiency while ensuring the forging quality.

Description

Lifting mechanism of forging manipulator

Technical Field

The utility model relates to the field of forging equipment, in particular to a lifting mechanism of a forging manipulator.

Background

The forging manipulator is important equipment for realizing forging automation in a forging workshop, is usually matched with a forging hydraulic press for use, and can improve the quality and the production efficiency of forgings. Forging manipulator in the prior art usually needs to realize multiple actions such as walking, lifting, tilting, clamping, clamp rotating and the like, wherein the forging manipulator lifting mechanism in the prior art comprises a steel wire rope hanging type, a multi-rod mechanism combined type and the like. The multi-rod mechanism combination is shown in patents CN102019340B, CN109047617B, etc., which generally includes a linkage mechanism formed by a plurality of links, and this structure has the advantages of flexible operation, precise control of both lifting and tilting, and small lifting range. The steel wire rope hanging type generally comprises two groups of driving devices, for example, a transmission device for driving a clamp frame on a forging manipulator to lift is disclosed in Chinese patent with the publication number of CN103920842B, the transmission device is provided with a front shaft roller and a rear shaft roller, the front shaft roller and the rear shaft roller are respectively driven to rotate by different driving devices, and the steel wire rope can be wound or unwound during rotation, so that the clamp frame is lifted, and when the driving devices of the front shaft roller and the rear shaft roller are not synchronous, a certain included angle can be formed between the clamp frame and a horizontal plane, so that the clamp frame is inclined.

In order to solve the above problems, a conventional solution in the prior art is to add a counterweight at the rear end of a clamp frame, as described in the background art of patent CN205816695U, in order to keep a movable frame bearing a clamp horizontal, the movable frame must be equipped with a counterweight, but since the forging has different volume and weight, the counterweights with different weights need to be adjusted according to the forging product condition, and the procedure of adjusting the counterweight is relatively complicated, which may affect the production efficiency, and the solution of patent CN205816695U is to replace a motor with two hydraulic cylinders, one of which is vertically arranged to connect the movable frame and a supporting seat, when the movable frame descends, the counterweight does not need to be set, and the piston rod of the hydraulic cylinder is directly used to keep the movable frame horizontal, but the patent still has the problem of small lifting range. If then disclose a protection device who goes up and down behind forging operation machine in the chinese utility model patent of grant publication number CN202655539U again, it still adopts traditional two drive arrangement's around being equipped with wire rope suspended structure, can guarantee the lifting range, but this patent has cancelled the balancing piece of former forging operation machine, it links to each other lifting platform rear portion and operation machine frame below with the chain at the operation machine rear, thereby avoid lifting platform rear portion upwarp, but this mode utilizes flexible chain to connect lifting platform rear end and operation machine frame, still can restrict the lifting range of jaw frame if chain length is short, longer then has great flexibility of chain length, still can appear the jaw frame problem of rocking.

In addition, the steel wire rope hanging structure in the prior art adopts a front driving device and a rear driving device to achieve the purpose of adjusting the inclination of the clamp frame, once the two driving devices are asynchronous, the gravity center of the clamp frame is easy to shift, the lifting cannot be kept stable, and in addition, the inclination pose of the clamp frame is adjusted by winding and unwinding the steel wire rope, so that the adjustment precision is difficult to guarantee.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a lifting mechanism of a forging manipulator, which can quickly and stably realize the fixation of a clamp frame and quickly and accurately control the inclination adjustment of the clamp frame while ensuring the lifting range of the clamp frame, thereby shortening the adjustment time and improving the production efficiency while ensuring the forging quality.

The purpose of the utility model is realized by the following technical scheme:

a lifting mechanism of a forging manipulator comprises a lifting driving assembly and a hydraulic cylinder, wherein the lifting driving assembly is arranged on a lifting driving support at the upper end of a vehicle body and comprises a lifting driving device, a roller, a first steel wire rope and a second steel wire rope, wherein the two sides of the lifting driving device are respectively provided with the roller, one end of the first steel wire rope and one end of the second steel wire rope are respectively wound on the rollers at the corresponding sides, the winding directions of the first steel wire rope and the second steel wire rope on the rollers at the same side are opposite, the two ends of the lifting driving support are respectively provided with a steering wheel, a clamp frame is arranged in the vehicle body, one end of the clamp frame is provided with a first connecting seat, the other end of the clamp frame is provided with a second connecting seat, the first steel wire rope is fixedly connected with the first connecting seat at the corresponding side after bypassing the steering wheel at the corresponding side, the second steel wire rope is fixedly connected with the second connecting seat at the corresponding side after bypassing the steering wheel at the corresponding side, the lower end of the first connecting seat and the lower end of the second connecting seat are hinged with distance sensors, the hydraulic cylinder is arranged on a walking frame at the lower end of the trolley body, a supporting clamping jaw is arranged at the end part of a cylinder rod of the hydraulic cylinder, and a supporting shaft is arranged in the clamp frame.

And hoisting bolts are arranged at the upper end of the first connecting seat and the upper end of the second connecting seat.

The roller is provided with a plurality of accommodating grooves, and the first steel wire rope and the second steel wire rope are respectively wound in the corresponding accommodating grooves.

And a hydraulic cylinder is arranged at the rear end of the walking frame.

And hydraulic cylinders are arranged at the front end and the rear end of the walking frame.

And a side baffle is arranged on the outer side of the wheel groove of the steering wheel.

The utility model has the advantages and positive effects that:

1. in addition, a hydraulic cylinder is arranged at the end part of the walking frame of the vehicle body, and when the clamp frame descends to the right position, the hydraulic cylinder extends out to quickly fix the clamp frame.

2. The hydraulic cylinder can be arranged at the rear end of the walking frame only, the clamp frame is fixed and meanwhile the unidirectional inclination adjustment of the clamp frame is realized, the hydraulic cylinders can be arranged at the front end and the rear end of the walking frame, the clamp frame is fixed and meanwhile the bidirectional inclination adjustment of the front end and the rear end of the clamp frame is realized, and distance sensors are hinged to the lower ends of the connecting seats at the front end and the rear end of the clamp frame and used for detecting the distance between the connecting seats and the table board of the walking frame in real time, so that the pose of the clamp frame can be accurately confirmed, and the accurate adjustment of the clamp frame is guaranteed.

3. The upper end of the distance sensor is hinged with the corresponding connecting seat, and the detection end of the distance sensor is vertically downward no matter how the clamp frame is adjusted, so that the conversion control accuracy of an equipment system is ensured.

4. The utility model can also judge whether the clamp frame is horizontal according to the distance between the distance sensor and the table top of the walking frame, and can screw the hoisting bolt to realize fine adjustment of the clamp frame.

Drawings

Figure 1 is a schematic view of the present invention in use,

figure 2 is a top view of the lift drive bracket of figure 1,

figure 3 is a schematic structural view of one embodiment of the present invention,

figure 4 is a schematic illustration of the embodiment of figure 3 showing the inclination of the jawset,

figure 5 is an enlarged view at I of figure 4,

figure 6 is a schematic structural view of another embodiment of the present invention,

figure 7 is a schematic illustration of the embodiment of figure 6 showing the inclination of the jawset,

figure 8 is an enlarged view at II of figure 7,

fig. 9 is an enlarged schematic view of the steering wheel 303 in fig. 1.

The lifting device comprises a vehicle body 1, a walking frame 101, a lifting driving support 102, a clamp frame 2, a first connecting seat 201, a second connecting seat 202, a distance sensor 203, a lifting bolt 204, a lifting driving assembly 3, a first steel wire rope 301, a second steel wire rope 302, a steering wheel 303, a side baffle 3031, a roller 304, a lifting driving device 305, a hydraulic cylinder 4, a supporting clamping jaw 401 and a clamp 5.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 1, the forging manipulator includes a vehicle body 1 and a caliper 2, wherein the vehicle body 1 includes a lower traveling frame 101 and an upper elevation driving bracket 102, and the caliper 2 is disposed between the traveling frame 101 and the elevation driving bracket 102.

As shown in fig. 1 to 9, the present invention includes a lifting driving assembly 3 and a hydraulic cylinder 4, wherein the lifting driving assembly 3 is disposed on a lifting driving support 102 of a vehicle body 1, the lifting driving assembly 3 includes a lifting driving device 305, a roller 304, a first steel wire rope 301 and a second steel wire rope 302, wherein the roller 304 is disposed on both sides of the lifting driving device 305, one end of the first steel wire rope 301 and one end of the second steel wire rope 302 are wound on the roller 304 on the corresponding side, and the winding directions of the first steel wire rope 301 and the second steel wire rope 302 on the roller 304 on the same side are opposite, so that when the roller 304 rotates, the first steel wire rope 301 and the second steel wire rope 302 can be wound and tightened or released simultaneously, the two ends of the lifting driving support 102 are both provided with a steering wheel 303, both sides of one end of the caliper 2 are provided with a first connecting base 201, both sides of the other end are provided with a second connecting base 202, and the first steel wire rope 301 bypasses the steering wheel 303 of the corresponding side and then is fixedly connected with the first connecting seat 201 of the corresponding side, the second steel wire rope 302 bypasses the steering wheel 303 of the corresponding side and then is fixedly connected with the second connecting seat 202 of the corresponding side, the lower end of the first connecting seat 201 and the lower end of the second connecting seat 202 are both hinged with a distance sensor 203, as shown in fig. 5 and 8, because the upper end of the distance sensor 203 is hinged with the corresponding connecting seat, no matter the clamp frame 2 is horizontal or inclined, the detection end of the distance sensor faces downwards vertically and accurately detects the vertical distance between the detection end of the distance sensor and the table top of the walking frame 101, the hydraulic cylinder 4 is arranged at the end of the walking frame 101, as shown in fig. 8, the end of the cylinder rod of the hydraulic cylinder 4 is provided with a supporting clamping jaw 401, and a supporting shaft is arranged in the end of the clamp frame 2. When the utility model works, the lifting driving device 305 starts to drive the first steel wire rope 301 and the second steel wire rope 302 to be synchronously retracted and extended, so that the clamp frame 2 is lifted and lowered, when the clamp frame 2 is lowered to a set height, as shown in fig. 3 and 6, the cylinder rod of the hydraulic cylinder 4 extends out, and the supporting clamping jaw 401 at the end of the cylinder rod clamps the supporting shaft in the supporting clamp frame 2, so that the hydraulic cylinder 4 can replace a counterweight block to play a role in stabilizing the clamp frame 2, and when the clamp frame 2 needs to be inclined, the cylinder rod of the hydraulic cylinder 4 can further extend out to drive the end of the clamp frame 2 to be lifted, and in the adjusting process, as shown in fig. 4, the distance sensor 203 detects the distance between the cylinder rod and the table top of the walking frame 1 in real time, so that the aim of accurately controlling the inclination angle of the clamp frame 2 through a system conversion is achieved, and as shown in fig. 9, the side baffle 3031 is welded at the outer side of the wheel groove of the steering wheel 303, as shown in fig. 4 and 7, when the clamp frame 2 is adjusted in a tilting manner, the wire rope at the corresponding raised end is not tightened any more, and the side guard 3031 can prevent the wire rope from being separated from the steering wheel 303. In this embodiment, the lifting driving device 305 is a dual-shaft motor, and the lifting driving device 305 and the distance sensor 203 are both known in the art and commercially available.

As shown in fig. 1, the upper ends of the first connecting seat 201 and the second connecting seat 202 are respectively provided with a hoisting bolt 204, and the first steel wire rope 301 and the second steel wire rope 302 are respectively fixedly connected with the corresponding hoisting bolt 204. The hoisting bolt 204 is in threaded connection with the corresponding connecting seat, so that the hoisting bolt 204 can be rotated to finely adjust the height of the connecting end of the steel wire rope according to actual conditions, and the leveling of the clamp frame 2 is realized. The lifting bolt 204 is well known in the art and is commercially available.

As shown in fig. 2, the roller 304 is respectively installed on output shafts at two sides of the lifting driving device 305, a plurality of accommodating grooves are formed in the roller 304, the first steel wire rope 301 and the second steel wire rope 302 are respectively wound in the corresponding accommodating grooves, the accommodating grooves prevent the steel wire ropes from being separated from the roller 304, and a baffle structure may be arranged outside the circumference of the accommodating grooves as required.

The supporting clamping jaw 401 at the end part of the cylinder rod of the hydraulic cylinder 4 can adopt an arc-shaped fixed clamping jaw structure, at the moment, the supporting clamping jaw 401 is aligned to the supporting shaft in the end part of the clamp frame 2, and the supporting shaft in the end part of the clamp frame 2 automatically falls into the supporting clamping jaw 401 in the descending process of the clamp frame 2. The supporting clamping jaw 401 can also adopt an automatic clamping jaw structure, at the moment, the supporting clamping jaw 401 comprises a clamping jaw air cylinder, and after the hydraulic cylinder 4 drives the supporting clamping jaw 401 to ascend in place, the clamping jaw air cylinder drives the clamping jaws at two sides to open and close a supporting shaft in the end part of the clamping jaw frame 2, and the supporting clamping jaw structure is a commercially available product in the technical field.

The clamp frame 2 is provided with a clamp 5 for clamping a forge piece, and the clamp frame 2 is provided with a mechanism for driving the clamp 5 to open, close and rotate, which is a known technology in the field.

The hydraulic cylinder 4 can be arranged at the rear end of the walking frame 101, and the hydraulic cylinders 4 can be arranged at the front end and the rear end of the walking frame 101.

The first embodiment is as follows:

as shown in fig. 3 to 5, in the present embodiment, the hydraulic cylinder 4 is provided only at the rear end of the traveling frame 101.

In the working process of this embodiment, the lifting driving device 305 starts to drive the first steel wire rope 301 and the second steel wire rope 302 to be synchronously retracted, so as to achieve horizontal lifting of the forceps frame 2, when the forceps frame 2 descends to a set height, as shown in fig. 3, the cylinder rod of the hydraulic cylinder 4 extends out, and the supporting jaw 401 at the end of the cylinder rod clamps the supporting shaft at the rear end of the forceps frame 2, so that the hydraulic cylinder 4 can quickly and stably fix the rear end of the forceps frame 2 to replace a counterweight block and other structures in the prior art.

In this embodiment, the inclination of the clamp frame 2 can be further adjusted, as shown in fig. 4, at this time, the hydraulic cylinder 4 further extends to lift the clamp frame 2, so that the clamp frame 2 is in an inclined state, and as shown in fig. 5, since the upper end of the distance sensor 203 is hinged to the corresponding connecting seat, no matter how the clamp frame 2 is inclined, the detection end of the distance sensor 203 is always vertically downward, so that the vertical distance between the detection end and the top surface of the walking frame 101 can be accurately measured. As shown in fig. 4, in this embodiment, the distance a between the two distance sensors 203 is kept constant, and is the hypotenuse of the right triangle, and the difference between the distances h1 and h2 detected by the two distance sensors 203 and the table top of the walking frame 101 is a cathetus of the right triangle, so that the equipment system can accurately obtain the tilt angle of the clamp frame 2 through conversion according to the right triangle formula, and control the hydraulic cylinder 4 to perform real-time telescopic adjustment, thereby ensuring the tilt accuracy of the clamp frame 2.

After the hydraulic cylinder 4 retracts, the clamp frame 2 recovers to a horizontal lifting state, at the moment, if each distance sensor 203 detects that the distance between the distance sensor 203 and the table top of the walking frame 101 is different, the clamp frame 2 slightly inclines and is not horizontal, at the moment, an operator can finely adjust the clamp frame 2 by screwing the hoisting bolt 204 until the detection value of the distance sensor 203 is the same, and therefore the clamp frame 2 is guaranteed to be lifted horizontally and stably.

Example two:

as shown in fig. 6 to 8, the difference between the present embodiment and the first embodiment is: this embodiment all is equipped with pneumatic cylinder 4 at walking frame 101 front end and rear end, compares in embodiment one, and this embodiment utilizes two pneumatic cylinders 4 fixed tong frame 2 in order to replace structures such as balancing weight, and tong frame 2 is more stable firm, and simultaneously as shown in fig. 7, this embodiment can realize the slope adjustment of tong frame 2 two directions in front and back, and the adjustment is more nimble, and the control principle and the embodiment one of this embodiment are the same.

Claims

1. The utility model provides a forging manipulator elevating system which characterized in that: the lifting device comprises a lifting driving component (3) and a hydraulic cylinder (4), wherein the lifting driving component (3) is arranged on a lifting driving support (102) at the upper end of a vehicle body (1), the lifting driving component (3) comprises a lifting driving device (305), rollers (304), a first steel wire rope (301) and a second steel wire rope (302), wherein the rollers (304) are arranged on two sides of the lifting driving device (305), one end of the first steel wire rope (301) and one end of the second steel wire rope (302) are wound on the rollers (304) on the corresponding sides, the winding directions of the first steel wire rope (301) and the second steel wire rope (302) on the rollers (304) on the same side are opposite, steering wheels (303) are arranged at two ends of the lifting driving support (102), a clamp frame (2) is arranged in the vehicle body (1), a first connecting seat (201) is arranged at one end of the clamp frame (2), a second connecting seat (202) is arranged at the other end of the lifting driving support, first wire rope (301) are walked around behind directive wheel (303) that correspond the side and are linked firmly with first connecting seat (201) that correspond the side, second wire rope (302) are walked around behind directive wheel (303) that correspond the side and are linked firmly with second connecting seat (202) that correspond the side, first connecting seat (201) lower extreme and second connecting seat (202) lower extreme all articulate and have distance sensor (203), and on walking frame (101) of automobile body (1) lower extreme were located in pneumatic cylinder (4), just pneumatic cylinder (4) cylinder rod tip was equipped with support clamping jaw (401), be equipped with the back shaft in jaw frame (2).

2. The forging manipulator elevating mechanism of claim 1, wherein: and hoisting bolts (204) are arranged at the upper ends of the first connecting seat (201) and the second connecting seat (202).

3. The forging manipulator elevating mechanism of claim 1, wherein: the roller (304) is provided with a plurality of accommodating grooves, and the first steel wire rope (301) and the second steel wire rope (302) are respectively wound in the corresponding accommodating grooves.

4. The forging manipulator elevating mechanism of claim 1, wherein: and a hydraulic cylinder (4) is arranged at the rear end of the walking frame (101).

5. The forging manipulator elevating mechanism of claim 1, wherein: the front end and the rear end of the walking frame (101) are both provided with hydraulic cylinders (4).

6. The forging manipulator elevating mechanism of claim 1, wherein: and a side baffle (3031) is arranged on the outer side of the wheel groove of the steering wheel (303).