CN104289653A - Main movement mechanism of redundant drive forging operation machine - Google Patents
Main movement mechanism of redundant drive forging operation machine Download PDFInfo
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- CN104289653A CN104289653A CN201410468239.1A CN201410468239A CN104289653A CN 104289653 A CN104289653 A CN 104289653A CN 201410468239 A CN201410468239 A CN 201410468239A CN 104289653 A CN104289653 A CN 104289653A
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- hinge
- linear actuator
- lift arm
- frame
- crank
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forging (AREA)
Abstract
The invention provides a main movement mechanism of a redundant drive parallel connection rod type forging operation machine. The front end of a forceps rod is connected with a pair of clamp forceps. A front hanging rod is connected with the front portion of the forceps rod and the front portion of a front lifting arm. A pitching linear driver is connected with the rear end of the forceps rod and the front portion of a rear lifting arm. A front lifting linear driver and a rear lifting linear driver are connected with the middles of the front lifting arm and the rear lifting arm and a rack respectively. The upper portions of the front lifting arm and the rear lifting arm are connected with a first synchronous rod and a second synchronous rod respectively. The first synchronous rod and the second synchronous rod are connected through hinges. A horizontal buffering linear driver is connected with the middle of the front hanging rod and the rack. According to the main movement mechanism, the front lifting linear drive and the rear lifting linear driver are arranged, the bearing capacity of the operation machine is improved, and control can be achieved easily.
Description
Technical field
The present invention relates to a kind of motion of forging manipulator.
Background technology
Forging manipulator is the important auxiliary equipment of free-forging hydraulic group, is also that the major mechanical that the career developments such as national heavy industry, nuclear power, Aero-Space and wind energy are badly in need of one of is equipped.Wherein, the kicking motion of forging lifting, pitching and horizontal direction is topmost three motions that forging manipulator needs to provide, and namely these three motions are realized by the main motion mechanism of forging manipulator.Current use more widely large-tonnage forging manipulator form has parallel link mechanism and two kinds, rocking lever formula mechanism, and wherein the mobile decoupling of parallel link forging manipulator is higher, is easy to control, and applies more extensive.But the hydraulic cylinder that most of parallel link forging manipulator main motion mechanism realizes lifting driving only has one, reduces the integrated carrying ability of manipulator.Although Chinese patent 201910055222.2 proposes a kind of upper connecting rod forward-only connecting type forging manipulator, its main motion mechanism contains former and later two lifting hydraulic cylinders, but need lift cylinders before and after strict guarantee to be synchronized with the movement, otherwise very large internal force will be produced, control difficulty large.
Summary of the invention
The object of the present invention is to provide one to be easy to realize controlling, the redundant drive forging manipulator main motion mechanism of the bearing capacity of manipulator can be improved.
The present invention mainly comprises: claw beam, front overhang peg, pitching linear actuator, front lift arm, rear lift arm, two synchronizing bars, a pair lifting linear actuator and horizontal buffer units.Claw beam front end is connected with clamp, the front portion of this clamp is connected by hinge one end with front overhang peg, the other end of this front overhang peg is connected with the front portion of front lift arm by hinge, above-mentioned claw beam rear end is connected by hinge one end with pitching linear actuator, the other end of this pitching linear actuator is connected by the front portion of hinge with rear lift arm, before, one end of rear lifting linear actuator is respectively by hinge and front, the middle part of rear lift arm connects, before this, the other end of rear lifting linear actuator is connected with frame respectively by hinge, before, rear lift arm top is connected respectively by hinge one end with synchronizing bar one and synchronizing bar two, this synchronizing bar one is connected by hinge with the other end of synchronizing bar two.Described horizontal buffer unit has three kinds of connected modes:
First kind of way: one end of level buffering linear actuator is connected with in the middle part of above-mentioned front overhang peg by hinge, and its other end is connected with frame by hinge.
The second way: one end of level buffering linear actuator is connected with in the middle part of above-mentioned front overhang peg by hinge, and its other end is connected through the hinge in the middle part of above-mentioned claw beam.
The third mode: horizontal buffer unit comprises crank, level buffering linear actuator and connecting rod, one end of crank is connected with frame by hinge, the other end of this crank is connected with one end of connecting rod by hinge, the other end of this connecting rod is connected with in the middle part of above-mentioned claw beam by hinge, level buffering linear actuator one end is connected with in the middle part of above-mentioned connecting rod by hinge, and its other end is connected with frame by hinge; The ratio that crank and frame tie point and level distance, crank, connecting rod and the level cushioned between linear actuator and frame tie point cushion between the initial length of linear actuator is 2:1:5:2.5.
Claw beam lifting, pitching and horizontal kicking motion are respectively by each driver complete independently of manipulator main motion mechanism.During elevating movement, forward and backward lifting linear actuator promotes forward and backward lift arm simultaneously, and front lift arm drives front overhang peg to be synchronized with the movement up and down, and rear lift arm drives pitching linear actuator to be synchronized with the movement up and down, and then drives claw beam to do synchronization lifting motion.During elevating movement, pitching linear actuator directly promotes claw beam rear portion makes it do elevating movement.At cart Acceleration of starting, stop in decelerating phase and forging process for fuel process, by the passive stretching motion of level buffering linear actuator, realize the kicking motion that claw beam adapts to level sudden change external force.
The present invention compared with prior art tool has the following advantages: containing former and later two lifting linear actuators, improve the bearing capacity of manipulator, two synchronizing bars are used to connect forward and backward lift arm, be hinged between two synchronizing bars, the asynchronous internal force caused of forward and backward lifting linear actuator motion can be eliminated, easily realize controlling.
Accompanying drawing explanation
Accompanying drawing 1 is the simplified schematic diagram of the embodiment of the present invention 1.
Accompanying drawing 2 is simplified schematic diagram of the embodiment of the present invention 2.
Accompanying drawing 3 is simplified schematic diagram of the embodiment of the present invention 3.
In figure: 1, frame 2, rear lift arm 3, synchronizing bar 24, synchronizing bar 1, front lift arm 6, front overhang peg 7, level buffering linear actuator 8, front lifting linear actuator 9, claw beam 10, pitching linear actuator 11, rear lifting linear actuator 12, crank 13, connecting rod
Detailed description of the invention
In the redundant drive forging manipulator main motion mechanism schematic diagram shown in Fig. 1, claw beam 9 front end is connected with clamp, the front portion of this clamp is connected by hinge one end with front overhang peg 6, the other end of this front overhang peg is connected by the front portion of hinge with front lift arm 5, above-mentioned claw beam rear end is connected by hinge one end with pitching linear actuator 10, the other end of this pitching linear actuator is connected by the front portion of hinge with rear lift arm 2, before, rear lifting linear actuator 8, one end of 11 is respectively by hinge and front, the middle part of rear lift arm connects, before this, the other end of rear lifting linear actuator is connected with frame 1 respectively by hinge, before, rear lift arm top is connected respectively by hinge one end with synchronizing bar 1 and synchronizing bar 23, this synchronizing bar one is connected by hinge with the other end of synchronizing bar two, one end of level buffering linear actuator 7 is connected with in the middle part of above-mentioned front overhang peg by hinge, its other end is connected with frame by hinge.
Embodiment 2:
As shown in Figure 2, one end of level buffering linear actuator 7 is connected with in the middle part of above-mentioned front overhang peg 6 by hinge, and its other end is connected through the hinge in the middle part of above-mentioned claw beam, and other parts are identical with embodiment 1 with annexation.
Embodiment 3:
As shown in Figure 3, one end of crank 12 is connected with frame 1 by hinge, the other end of this crank is connected by hinge one end with connecting rod 13, the other end of this connecting rod is connected with in the middle part of above-mentioned claw beam 9 by hinge, level buffering linear actuator 7 one end is connected with in the middle part of above-mentioned connecting rod by hinge, and its other end is connected with frame by hinge; The ratio that crank and frame tie point and level distance, crank, connecting rod and the level cushioned between linear actuator and frame tie point cushion between the initial length of linear actuator is 2:1:5:2.5, and other parts are identical with embodiment 1 with annexation.
Claims (3)
1. a redundant drive forging manipulator main motion mechanism, it mainly comprises: claw beam, front overhang peg, pitching linear actuator, front lift arm, rear lift arm, two synchronizing bars, a pair lifting linear actuator and horizontal buffer unit, it is characterized in that: described claw beam front end is connected with clamp, the front portion of this clamp is connected by hinge one end with front overhang peg, the other end of this front overhang peg is connected with the front portion of front lift arm by hinge, above-mentioned claw beam rear end is connected by hinge one end with pitching linear actuator, the other end of this pitching linear actuator is connected by the front portion of hinge with rear lift arm, before, one end of rear lifting linear actuator is respectively by hinge and front, the middle part of rear lift arm connects, before this, the other end of rear lifting linear actuator is connected with frame respectively by hinge, before, rear lift arm top is connected respectively by hinge one end with synchronizing bar one and synchronizing bar two, this synchronizing bar one is connected by hinge with the other end of synchronizing bar two, one end of level buffering linear actuator is connected with in the middle part of above-mentioned front overhang peg by hinge, its other end is connected with frame by hinge.
2. redundant drive forging manipulator main motion mechanism according to claim 1, it is characterized in that: one end of the level buffering linear actuator in described horizontal buffer unit is connected with in the middle part of above-mentioned front overhang peg by hinge, and its other end is connected through the hinge in the middle part of above-mentioned claw beam.
3. redundant drive forging manipulator main motion mechanism according to claim 1, it is characterized in that: described horizontal buffer unit comprises crank, level buffering linear actuator and connecting rod, one end of crank is connected with frame by hinge, the other end of this crank is connected with one end of connecting rod by hinge, the other end of this connecting rod is connected with in the middle part of above-mentioned claw beam by hinge, level buffering linear actuator one end is connected with in the middle part of above-mentioned connecting rod by hinge, and its other end is connected with frame by hinge; The ratio that crank and frame tie point and level distance, crank, connecting rod and the level cushioned between linear actuator and frame tie point cushion between the initial length of linear actuator is 2:1:5:2.5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410468239.1A CN104289653B (en) | 2014-09-15 | 2014-09-15 | Main movement mechanism of redundant drive forging operation machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410468239.1A CN104289653B (en) | 2014-09-15 | 2014-09-15 | Main movement mechanism of redundant drive forging operation machine |
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| CN104289653A true CN104289653A (en) | 2015-01-21 |
| CN104289653B CN104289653B (en) | 2017-02-01 |
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| CN201410468239.1A Active CN104289653B (en) | 2014-09-15 | 2014-09-15 | Main movement mechanism of redundant drive forging operation machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723351A (en) * | 2015-03-09 | 2015-06-24 | 上海交通大学 | Robot paw used for die forging manufacture |
| CN108246952A (en) * | 2018-03-27 | 2018-07-06 | 燕山大学 | A kind of implementation method of hydraulic cylinder displacement solver for forging manipulator |
Citations (4)
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| US3631996A (en) * | 1970-06-11 | 1972-01-04 | Alliance Machine Co | Manipulator |
| CN103056266A (en) * | 2012-12-06 | 2013-04-24 | 燕山大学 | Parallel rod type forging manipulator lifting mechanism with slantly-arranged pitching linear actuator |
| CN202894181U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator capable of optimizing and lifting motion |
| CN103894533A (en) * | 2014-03-06 | 2014-07-02 | 燕山大学 | Completely-decoupled type forging manipulator lifting mechanism |
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2014
- 2014-09-15 CN CN201410468239.1A patent/CN104289653B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3631996A (en) * | 1970-06-11 | 1972-01-04 | Alliance Machine Co | Manipulator |
| CN202894181U (en) * | 2012-10-30 | 2013-04-24 | 燕山大学 | Forging manipulator capable of optimizing and lifting motion |
| CN103056266A (en) * | 2012-12-06 | 2013-04-24 | 燕山大学 | Parallel rod type forging manipulator lifting mechanism with slantly-arranged pitching linear actuator |
| CN103894533A (en) * | 2014-03-06 | 2014-07-02 | 燕山大学 | Completely-decoupled type forging manipulator lifting mechanism |
Non-Patent Citations (2)
| Title |
|---|
| 童幸等: "操作机主运动机构的解耦性研究", 《机械工程学报》 * |
| 许允斗等: "3种锻造操作机主运动机构受力比较分析", 《机械设计》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723351A (en) * | 2015-03-09 | 2015-06-24 | 上海交通大学 | Robot paw used for die forging manufacture |
| CN108246952A (en) * | 2018-03-27 | 2018-07-06 | 燕山大学 | A kind of implementation method of hydraulic cylinder displacement solver for forging manipulator |
| CN108246952B (en) * | 2018-03-27 | 2019-07-26 | 燕山大学 | A kind of implementation method of the hydraulic cylinder displacement solver for forging manipulator |
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| CN104289653B (en) | 2017-02-01 |
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