CN104289653B - 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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- CN104289653B CN104289653B CN201410468239.1A CN201410468239A CN104289653B CN 104289653 B CN104289653 B CN 104289653B CN 201410468239 A CN201410468239 A CN 201410468239A CN 104289653 B CN104289653 B CN 104289653B
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- hinge
- linear actuator
- lift arm
- frame
- claw beam
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Classifications
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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 national heavy industry, nuclear power, aviation boat
One of major mechanical equipment that the career development such as it and wind energy is badly in need of.Wherein, the buffering of forging lifting, pitching and horizontal direction
Motion is topmost three motions that forging manipulator needs to provide, and these three motions are i.e. by the main motion machine of forging manipulator
Structure is realized.There are parallel link mechanism and rocking lever formula mechanism using more extensive large-tonnage forging manipulator form at present
Two kinds, the mobile decoupling of wherein parallel link forging manipulator higher it is easy to control, application more extensive.However, big portion
Divide parallel link forging manipulator main motion mechanism to realize the hydraulic cylinder only one of which that lifting drives, reduce the whole of operation machine
Body bearing capacity.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, however it is necessary that lift cylinders are synchronized with the movement before and after strict guarantee, otherwise will produce
The very big internal force of life, controls difficulty big.
Content of the invention
It is an object of the invention to provide one kind is easily achieved control, it is possible to increase the redundancy of the bearing capacity of operation machine is driven
Dynamic forging manipulator main motion mechanism.
The invention mainly comprises: claw beam, front overhang peg, pitching linear actuator, front lift arm, rear lift arm, two with
Step bar, a pair of lifting linear actuator and horizontal buffer unit.Claw beam front end is connected with clamp, and hinge is passed through in the front portion of this clamp
It is connected with one end of front overhang peg, the other end of this front overhang peg is passed through hinge and is connected with the front portion of front lift arm, above-mentioned claw beam
Rear end is connected with one end of pitching linear actuator by hinge, the other end of this pitching linear actuator pass through hinge with after carry
Rise the anterior connection of arm, one end of forward and backward lifting linear actuator is connected with the middle part of forward and backward lift arm by hinge respectively,
The other end of this forward and backward lifting linear actuator is connected with frame by hinge respectively, and hinge is passed through on forward and backward lift arm top respectively
Chain is connected with one end of synchronizing bar one and synchronizing bar two, and this synchronizing bar one is connected by hinge with the other end of synchronizing bar two.Institute
The horizontal buffer unit stated has three kinds of connected modes:
First kind of way: one end that level buffers linear actuator is connected with the middle part of above-mentioned front overhang peg by hinge, its
The other end is connected with frame by hinge.
The second way: one end that level buffers linear actuator is connected with the middle part of above-mentioned front overhang peg by hinge, its
The other end is connected through the hinge in the middle part of above-mentioned claw beam.
The third mode: horizontal buffer unit includes crank, level buffering linear actuator and connecting rod, one end of crank leads to
Cross hinge to be connected with frame, the other end of this crank is connected with one end of connecting rod by hinge, the other end of this connecting rod passes through hinge
Chain is connected with the middle part of above-mentioned claw beam, and level buffering linear actuator one end is connected with the middle part of above-mentioned connecting rod by hinge, and it is another
End is connected with frame by hinge；Crank and frame junction point and level buffer between linear actuator and frame junction point away from
It is 2:1:5:2.5 from, the ratio that buffers between the initial length of linear actuator of crank, connecting rod and level.
Each driver by operation owner's motion is independently complete respectively for claw beam lifting, pitching and horizontal kicking motion
Become.During elevating movement, forward and backward lifting linear actuator promotes forward and backward lift arm simultaneously, and front lift arm drives on front overhang peg work
Under be synchronized with the movement, rear lift arm drives pitching linear actuator to be synchronized with the movement up and down, and then drives claw beam to make synchronization lifting to transport
Dynamic.During elevating movement, pitching linear actuator pushes directly on claw beam rear portion makes it make elevating movement.In cart Acceleration of starting, stop
In car decelerating phase and the forging process for fuel course of processing, buffer the passive stretching motion of linear actuator by level, realize pincers
Bar is mutated, to level, the kicking motion that external force is adapted to.
The present invention compared with prior art has the advantage that and lifts linear actuator containing former and later two, improves behaviour
Make the bearing capacity of machine, connect forward and backward lift arm using two synchronizing bars, be hinged between two synchronizing bars, can disappear
Except the forward and backward lifting linear actuator asynchronous internal force causing of motion, easily realize controlling.
Brief description
Accompanying drawing 1 is the simplified schematic diagram of the embodiment of the present invention 1.
Accompanying drawing 2 is the simplified schematic diagram of the embodiment of the present invention 2.
Accompanying drawing 3 is the 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 are delayed
Rush linear actuator 8, front lifting linear actuator 9, claw beam 10, pitching linear actuator 11, rear lifting linear actuator 12, song
Handle 13, connecting rod
Specific embodiment
In 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 with one end of front overhang peg 6 by hinge, and the other end of this front overhang peg passes through hinge and front lifting
The anterior connection of arm 5, above-mentioned claw beam rear end is connected with one end of pitching linear actuator 10 by hinge, this pitching linear drives
The other end of device is passed through hinge and is connected with the front portion of rear lift arm 2, and one end of forward and backward lifting linear actuator 8,11 is passed through respectively
Hinge is connected with the middle part of forward and backward lift arm, and the other end of this forward and backward lifting linear actuator passes through hinge and frame 1 respectively
It is connected, forward and backward lift arm top is connected with one end of synchronizing bar 1 and synchronizing bar 23 by hinge respectively, this synchronizing bar one He
The other end of synchronizing bar two passes through hinge and is connected, and hinge and above-mentioned front overhang peg are passed through in one end that level buffers linear actuator 7
Middle part connects, and its other end is connected with frame by hinge.
Embodiment 2:
As shown in Fig. 2 one end that level buffers linear actuator 7 is connected with above-mentioned front overhang peg 6 middle part by hinge, its
The other end is connected through the hinge in the middle part of above-mentioned claw beam, and other parts and annexation are same as Example 1.
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 passes through hinge and company
One end of bar 13 connects, and the other end of this connecting rod is passed through hinge and is connected with above-mentioned claw beam 9 middle part, and level buffers linear actuator 7
One end is connected with the middle part of above-mentioned connecting rod by hinge, and its other end is connected with frame by hinge；Crank and frame junction point and
It is initial that level buffering the distance between linear actuator and frame junction point, crank, connecting rod and level buffer linear actuator
Length between ratio be 2:1:5:2.5, other parts and annexation same as Example 1.
Claims (3)
1. a kind of redundant drive forging manipulator main motion mechanism, it specifically includes that claw beam, front overhang peg, pitching linear drives
Device, front lift arm, rear lift arm, two synchronizing bars, a pair of lifting linear actuator and a level buffer linear actuator, its
It is characterised by: described claw beam front end is connected with clamp, the front portion of this clamp is connected with one end of front overhang peg, before this by hinge
The other end of hanger bar is passed through hinge and is connected with the front portion of front lift arm, and hinge and pitching linear drives are passed through in above-mentioned claw beam rear end
One end of device connects, and the other end of this pitching linear actuator is passed through hinge and is connected with the front portion of rear lift arm, and forward and backward lifting is straight
One end of line drive is connected with the middle part of forward and backward lift arm by hinge respectively, this forward and backward lifting linear actuator another
End is connected with frame by hinge respectively, and forward and backward lift arm top passes through the one of hinge and synchronizing bar one and synchronizing bar two respectively
End connects, and this synchronizing bar one is connected by hinge with the other end of synchronizing bar two, and one end that level buffers linear actuator is passed through
Hinge is connected with the middle part of above-mentioned front overhang peg, and its other end is connected with frame by hinge.
2. redundant drive forging manipulator main motion mechanism according to claim 1 it is characterised in that: described level buffering
One end of linear actuator is connected with the middle part of above-mentioned front overhang peg by hinge, and its other end is connected through the hinge in above-mentioned claw beam
Middle part.
3. redundant drive forging manipulator main motion mechanism according to claim 1 it is characterised in that: one end of crank leads to
Cross hinge to be connected with frame, the other end of this crank is connected with one end of connecting rod by hinge, the other end of this connecting rod passes through hinge
Chain is connected with the middle part of above-mentioned claw beam, and level buffering linear actuator one end is connected with the middle part of above-mentioned connecting rod by hinge, and it is another
End is connected with frame by hinge；Crank and frame junction point and level buffer between linear actuator and frame junction point away from
It is 2:1:5:2.5 from, the ratio that buffers between the initial length of linear actuator of crank, connecting rod and level.
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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN104289653A CN104289653A (en) | 2015-01-21 |
| CN104289653B true CN104289653B (en) | 2017-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
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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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| CN (1) | CN104289653B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104723351B (en) * | 2015-03-09 | 2016-06-01 | 上海交通大学 | A kind of robot hand manufactured for die forging |
| 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 |
Family Cites Families (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 |
| CN103056266B (en) * | 2012-12-06 | 2015-06-10 | 燕山大学 | Parallel rod type forging manipulator lifting mechanism with slantly-arranged pitching linear actuator |
| CN103894533B (en) * | 2014-03-06 | 2015-11-18 | 燕山大学 | A kind of full decoupled formula forging manipulator lifting mechanism |
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| CN104289653A (en) | 2015-01-21 |
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