CN103537598A - Forging manipulator with optimized deflector - Google Patents

Forging manipulator with optimized deflector Download PDF

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Publication number
CN103537598A
CN103537598A CN201310436451.5A CN201310436451A CN103537598A CN 103537598 A CN103537598 A CN 103537598A CN 201310436451 A CN201310436451 A CN 201310436451A CN 103537598 A CN103537598 A CN 103537598A
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China
Prior art keywords
pair
linear actuator
turning joint
lift arm
hinged
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CN201310436451.5A
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CN103537598B (en
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丁华锋
冯泽民
赖东东
王园园
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Yanshan University
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Yanshan University
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Publication of CN103537598B publication Critical patent/CN103537598B/en
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Abstract

The invention provides a forging manipulator with an optimized deflector. A pair of tongs is hinged to a tong rod, wherein the tong rod is hinged to a connecting piece, a pitching linear driver is hinged to the tong rod and a rear sliding rod, a rear left-and-right linear driver is fixedly connected with the rear sliding rod and a rear lifting arm, the rear lifting arm is connected with a rack and a synchronous pitching linear driver, and the synchronous pitching linear driver is hinged to a front lifting arm; the connecting piece is hinged to a front hanging rod, wherein the front hanging rod is hinged to a front sliding rod and a front-and-back linear driver, a front left-and-right linear driver is fixedly connected with the front sliding rod and the front lifting arm, the front lifting arm is hinged to the rack and a lifting linear driver, and the lifting linear driver is hinged to the rack. According to the forging manipulator, the deflector is optimized, so that bearing capacity is improved, the overall structure is simplified, cost is reduced, and economic benefit is improved.

Description

A kind of forging manipulator of optimizing arrangement for deflecting
Technical field the present invention relates to a kind of forging manipulator.
Background technology forging manipulator is one of secondary process equipment in forging pressure weight equipment, is the necessaries that improves forging and stamping production efficiency and forging quality.To retrieve discovery, publication number is that the Chinese patent of CN102019340A discloses a kind of claw beam lifting mechanism for forging manipulator, its arrangement for deflecting adopts space 4S mechanism, by four ball pivots of two front overhang pegs, make its clamp do yaw motion, but the bearing capacity of ball pivot is relatively poor, affect whole bearing capacity.Publication number is the disclosed a kind of multifunctional hydraulic forging manipulator of CN102430684U, its complete machine is all used revolute pair, has improved integrated carrying ability, but complete machine does not exist the offset movement of clamp, in forging process, can not cushion the instantaneous impulse force of this direction, affect the quality of forging.Publication number is that the Chinese patent of CN1745937A discloses a kind of six-dimensional parallel forging operator, and it can meet the requirement of six degree of freedom, but complex structure is difficult for manufacturing and installs.
Summary of the invention the object of the present invention is to provide that a kind of bearing capacity is high, simple in structure, the forging manipulator of the optimization arrangement for deflecting with six degree of freedom.The present invention 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 lifting linear actuator; Described elevation mount comprises: 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 linear actuator, connector.
Clamp rear end is connected with claw beam front end by turning joint, this claw beam rear end is connected with one end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator is connected with rear slide bar by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair of rear left and right linear actuator respectively, the other end of this pair of rear left and right linear actuator connects firmly with one end of a pair of rear lift arm respectively, the other end of this pair of rear lift arm by turning joint respectively frame connect; One position of above-mentioned a pair of rear lift arm is connected with one end of a pair of synchronising (connecting) rod respectively by turning joint, the other end of this pair of synchronising (connecting) rod is connected with a position of a pair of front lift arm respectively by turning joint, another position of this pair of front lift arm is connected with one end of a pair of lifting linear actuator respectively by turning joint respectively, and the other end of this pair of lifting linear actuator is connected with frame respectively by turning joint; One position of above-mentioned claw beam is connected with connector middle part by turning joint, the two ends of this connector are connected with a pair of front overhang peg one end by turning joint respectively, the other end of this pair of front overhang peg is connected with front slide bar respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair of front left and right linear actuator respectively, the other end of this pair of front left and right linear actuator connects firmly with one end of above-mentioned a pair of front lift arm respectively, and the other end of this pair of front lift arm is connected with frame respectively by turning joint; One position at above-mentioned a pair of front overhang peg middle part is connected with one end of a pair of front and back linear actuator by ball pivot respectively, and the other end of this pair of front and back linear actuator is connected with frame respectively by ball pivot.
The elevating movement process of forging manipulator of the present invention: lifting linear actuator promotes front lift arm, by synchronising (connecting) rod, after driving, lift arm rotates around frame, thereby drives claw beam to move up and down by front overhang peg and pitching linear actuator.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, drives claw beam and clamp to seesaw.Elevating movement process: pitching linear actuator claw beam rear end moves up and down, faces upward thereby drive claw beam to do the motion of bowing up and down.Deflection and offset movement process: before front left and right linear actuator promotes, slide bar moves, after rear left and right linear actuator promotes, slide bar moves, thereby drives claw beam to realize transverse movement; When front left and right linear actuator is fixed, slide bar after rear left and right linear actuator drives, drives claw beam to rotate around connector and claw beam hinged place by pitching linear actuator, realizes claw beam oscillating motion.Clamp rotary course: by driving Shi Qirao rear end, clamp rear end hinge axes to rotate.
The present invention compared with prior art tool has the following advantages:
1, front overhang peg of the present invention is all connected with revolute pair with claw beam, and can realize clamp yaw motion, has not only improved bearing capacity, and has optimized offset assembly.
2, the present invention can realize six working motions of forging manipulator, can effectively cushion the instantaneous impulse force of all directions in forging process, improves forging quality.
3, the less and simple shape of parts of the present invention, thus reduce costs, increase economic efficiency.
Accompanying drawing explanation
Fig. 1 is the schematic perspective view of the embodiment of the present invention.
In figure: slide bar, 15-front overhang peg before left and right linear actuator, 12-front lift arm, 13-front left and right linear actuator, 14-after slide bar, 11-after lift arm, 10-after linear actuator, the synchronous pitching linear actuator of 7-, 8-frame, 9-before and after 1-clamp, 2-connector, 3-claw beam, 4-lifting linear actuator, 5-pitching linear actuator, 6-.
The specific embodiment:
A kind of shown in Fig. 1, optimize in the simplified schematic diagram of forging manipulator of arrangement for deflecting, clamp 1 rear end is connected with claw beam 3 front ends by turning joint, this claw beam rear end is connected with one end of pitching linear actuator 5 by ball pivot, the other end of this pitching linear actuator is connected with rear slide bar 10 by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair of rear left and right linear actuator 11 respectively, the other end of this pair of rear left and right linear actuator connects firmly with one end of a pair of rear lift arm 9 respectively, the other end of this pair of rear lift arm is distinguished frame 8 by turning joint and is connected, one position of above-mentioned a pair of rear lift arm is connected with one end of a pair of synchronising (connecting) rod 7 respectively by turning joint, the other end of this pair of synchronising (connecting) rod is connected with a position of a pair of front lift arm 12 respectively by turning joint, another position of this pair of front lift arm is connected with one end of a pair of lifting linear actuator 4 respectively by turning joint respectively, and the other end of this pair of lifting linear actuator is connected with frame respectively by turning joint, one position of above-mentioned claw beam is connected with connector 2 middle parts by turning joint, the two ends of this connector are connected with a pair of front overhang peg 15 one end by turning joint respectively, the other end of this pair of front overhang peg is connected with front slide bar 14 respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair of front left and right linear actuator 13 respectively, the other end of this pair of front left and right linear actuator connects firmly with one end of above-mentioned a pair of front lift arm respectively, and the other end of this pair of front lift arm is connected with frame respectively by turning joint, one position at above-mentioned a pair of front overhang peg middle part is connected with one end of a pair of front and back linear actuator 6 by ball pivot respectively, and the other end of this pair of front and back linear actuator is connected with frame respectively by ball pivot.

Claims (1)

1. a forging manipulator of optimizing arrangement for deflecting, it is characterized in that: clamp rear end is connected with claw beam front end by turning joint, this claw beam rear end is connected with one end of pitching linear actuator by ball pivot, the other end of this pitching linear actuator is connected with rear slide bar by turning joint, the two ends of this rear slide bar connect firmly with one end of a pair of rear left and right linear actuator respectively, the other end of this pair of rear left and right linear actuator connects firmly with one end of a pair of rear lift arm respectively, the other end of this pair of rear lift arm by turning joint respectively frame connect; One position of above-mentioned a pair of rear lift arm is connected with one end of a pair of synchronising (connecting) rod respectively by turning joint, the other end of this pair of synchronising (connecting) rod is connected with a position of a pair of front lift arm respectively by turning joint, another position of this pair of front lift arm is connected with one end of a pair of lifting linear actuator respectively by turning joint respectively, and the other end of this pair of lifting linear actuator is connected with frame respectively by turning joint; One position of above-mentioned claw beam is connected with connector middle part by turning joint, the two ends of this connector are connected with a pair of front overhang peg one end by turning joint respectively, the other end of this pair of front overhang peg is connected with front slide bar respectively by turning joint, the two ends of this front slide bar connect firmly with one end of a pair of front left and right linear actuator respectively, the other end of this pair of front left and right linear actuator connects firmly with one end of above-mentioned a pair of front lift arm respectively, and the other end of this pair of front lift arm is connected with frame respectively by turning joint; One position at above-mentioned a pair of front overhang peg middle part is connected with one end of a pair of front and back linear actuator by ball pivot respectively, and the other end of this pair of front and back linear actuator is connected with frame respectively by ball pivot.
CN201310436451.5A 2013-09-23 2013-09-23 Forging manipulator with optimized deflector Expired - Fee Related CN103537598B (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104209440A (en) * 2014-08-20 2014-12-17 燕山大学 Forging operation machine with optimized deflection mechanism
CN104325062A (en) * 2014-10-17 2015-02-04 燕山大学 Pitching linear actuator and machine frame connection type forging manipulator

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20108277U1 (en) * 2001-05-17 2001-08-02 Dango & Dienenthal Maschbau Blacksmith manipulator
CN102935481A (en) * 2012-10-30 2013-02-20 燕山大学 Suspension type forging manipulator of lifting mechanism
CN202894178U (en) * 2012-10-30 2013-04-24 燕山大学 Forging manipulator of six degrees of freedom
CN103157741A (en) * 2013-03-06 2013-06-19 燕山大学 Dual-drive straight-line lifting forging manipulator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE20108277U1 (en) * 2001-05-17 2001-08-02 Dango & Dienenthal Maschbau Blacksmith manipulator
CN102935481A (en) * 2012-10-30 2013-02-20 燕山大学 Suspension type forging manipulator of lifting mechanism
CN202894178U (en) * 2012-10-30 2013-04-24 燕山大学 Forging manipulator of six degrees of freedom
CN103157741A (en) * 2013-03-06 2013-06-19 燕山大学 Dual-drive straight-line lifting forging manipulator

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104209440A (en) * 2014-08-20 2014-12-17 燕山大学 Forging operation machine with optimized deflection mechanism
CN104209440B (en) * 2014-08-20 2016-03-02 燕山大学 A kind of forging manipulator optimizing deflection mechanism
CN104325062A (en) * 2014-10-17 2015-02-04 燕山大学 Pitching linear actuator and machine frame connection type forging manipulator

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