CN105033147A - Rear-mounted forging manipulator for pitching linear actuator - Google Patents
Rear-mounted forging manipulator for pitching linear actuator Download PDFInfo
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- CN105033147A CN105033147A CN201510445499.1A CN201510445499A CN105033147A CN 105033147 A CN105033147 A CN 105033147A CN 201510445499 A CN201510445499 A CN 201510445499A CN 105033147 A CN105033147 A CN 105033147A
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Abstract
Provided is a rear-mounted forging manipulator for a pitching linear actuator. A clamp is hinged to a clamp lever. A rear suspension rod is hinged onto a rear sliding rod and the clamp lever. A pair of rear left and right linear drivers is fixedly connected with the rear sliding rod and a pitching connecting rod. The pitching connecting rod is fixedly connected with a pair of pitching coordination rods. A pair of rear lifting arms is hinged onto a pair of synchronous connecting rods. A pair of rear lifting arms is hinged onto a pair of synchronous connecting rods, the pair of pitching connecting rods and a frame. The pair of rear lifting arms is fixedly connected with a rear connecting rod. A pair of pitching linear drivers is hinged onto the pair of pitching coordination rods and the rear connecting rod. A pair of front lifting arms is hinged onto the frame and the pair of synchronous connecting rods. A lower connecting part fixedly connected at the front portion of the clamp lever is hinged onto a pair of upper connecting parts. The pair of upper connecting parts is hinged onto a pair of front suspension rods. The front suspension rod and a front sliding rod are hinged onto a pair of front-back linear drivers. The pair of front-back linear drivers is hinged onto the frame. A pair of front left-right linear drivers and the front sliding rod are fixedly connected with a pair of front lifting arms. A pair of elevating linear drivers is hinged onto the frame and the pair of front lifting arms.The rear-mounted forging manipulator for the pitching linear actuator helps to optimize a pitching structure, improve stress distribution of rod members performing pitching motion and enhance stability and dynamic performance of a system.
Description
Technical field the present invention relates to a kind of forging manipulator.
Background technology forging manipulator is topmost subsidiary engine in forging and stamping unit, is the visual plant that forge realizes forging machineryization and automation.It is mainly used in clamping forge piece and completes Forging Operation to coordinate press, and its work characteristics is that shock loading is large, inertia is large, the free degree is many, operating mode is severe.The Chinese patent being CN102019340A through retrieval discovery application number discloses a kind of claw beam lifting mechanism for forging manipulator, its pitching linear actuator is positioned in the middle part of manipulator, directly be connected with claw beam, when elevating movement due to the work characteristics of manipulator, powerful shock loading will be applied directly on pitching linear actuator, cause machine gravity forward, the single rod member of elevating movement is stressed to be concentrated, the dangerous phenomenon such as may cause that rod member fractures.Publication number is that the Chinese patent of CN101279353A discloses a kind of Equidirectional type six-freedom-degree manipulator for forging, although its mechanism comprises two pitching linear actuators and cuts and be all positioned at mechanism rear end, but owing to there is no synchronising (connecting) rod, therefore elevating movement and lifter motion will be interfered mutually, and then affect the stability of complete machine.Publication number is that the Chinese patent of CN202155463U discloses a kind of few coupled motions forging manipulator lifting mechanism, its synchronising (connecting) rod replace by pitching linear actuator, therefore, when bearing unbalance loading, the both sides stressed variable quantity of pitching linear actuator is inconsistent, will motion-affecting synchronism.
Summary of the invention the object of the present invention is to provide a kind of synchronism good, and stability is high, the rear-mounted forging manipulator of a kind of pitching linear actuator that bearing capacity is strong.
The present invention mainly comprises clamp rotation device, lifting device, elevation mount, front-back buffer and deflection offset assembly.Described clamp rotation device comprises: claw beam and clamp; Described lifting device comprises: a pair front lift arm, rear suspension rods, lower connector, a pair upper connector, a pair front overhang peg, a pair synchronising (connecting) rod, lift arm, a pair rear connectors and a pair lifting linear actuator after a pair; Described elevation mount comprises: bar is coordinated in a pair pitching linear actuator and pitching; Described front-back buffer comprises: a pair tandem driver; Described deflection offset assembly comprises: a pair front left and right linear actuator, a pair rear left and right linear actuator.
Clamp rear end is connected with claw beam front end by turning joint, this claw beam rear end is connected with one end of rear suspension rods by ball pivot, the other end of this rear suspension rods is connected with in the middle part of rear slide bar by turning joint, the two ends of this rear slide bar are connected with one end of a pair rear left and right linear actuator respectively, after this pair, the other end of left and right linear actuator is connected with a pair pitching connecting rod one end respectively, the both sides that the other end of this pair pitching connecting rod coordinates bar with pitching are respectively connected, the two ends that bar is coordinated in this pitching are connected with one end of lift arm after a pair respectively by turning joint, after this pair, the other end of lift arm is connected with frame respectively by turning joint, two positions that above-mentioned pitching coordinates bar intermediate distance equal are connected with a pair pitching linear actuator respectively by ball pivot, the other end of this pair pitching linear actuator is connected with rear connecting rod respectively by ball pivot, the two ends of this rear connecting rod are connected with a position of above-mentioned a pair rear lift arm respectively, after above-mentioned a pair, another position of lift arm is connected with one end of a pair synchronising (connecting) rod respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected with a position of a pair front lift arm respectively by turning joint, another position of this pair front lift arm is connected with the one end being elevated linear actuator for a pair respectively by ball pivot, and the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, above-mentioned claw beam is connected near the middle part of a position of clamp and lower connector, the two ends of this lower connector are connected with one end of a pair upper connector respectively by ball dumpling, the other end of this pair upper connector is connected respectively by turning joint one end with a pair front overhang peg, the axes intersect of above-mentioned connection upper connector and front overhang peg turning joint, the other end of above-mentioned a pair front overhang peg is connected respectively by the middle part of turning joint with front slide bar, the two ends of this front slide bar are connected with one end of a pair front left and right linear actuator respectively, the other end of this pair front left and right linear actuator is connected with one end of above-mentioned a pair front lift arm respectively, the other end of this pair front lift arm is connected with frame respectively by turning joint, in the middle of above-mentioned a pair front overhang peg, a position is connected respectively by ball pivot one end with a pair tandem driver, and the other end of this pair tandem driver is connected with frame respectively by ball pivot.
The elevating movement process of forging manipulator of the present invention: a pair lifting linear actuator promotes a pair front lift arm, drive a pair front overhang peg, a pair upper connector, lower connector, claw beam front end is moved up and down, after driving a pair by a pair synchronising (connecting) rod, lift arm is around gantry rotation simultaneously, and then drive claw beam rear end to move up and down by pitching coordination bar and rear suspension rods, thus claw beam is driven to move up and down.Seesaw process: a pair tandem driver promotes a pair front overhang peg, drives a pair upper connector and lower connector to do front and back back and forth movement, and then drive claw beam and clamp to seesaw.Elevating movement process: pitching linear actuator drives pitching to coordinate bar and rear suspension rods, thus drive claw beam to do upper and lower elevating movement.Deflection and offset movement process: before front left and right linear actuator promotes, slide bar moves, a pair front overhang peg, a pair upper connector is driven to move, and then drive claw beam front end transverse shifting, after rear left and right linear actuator promotes, slide bar moves, drive rear suspension rods moves, and then drive claw beam rear end transverse shifting, thus claw beam is made to realize transverse shifting; When front left and right linear actuator keeps static, slide bar after rear left and right linear actuator drives, drives claw beam around clamp center rotating by rear suspension rods, realizes claw beam yaw motion.Clamp rotary course: make it rotate around rear end hinge axes by driving clamp rear end.
The present invention compared with prior art tool has the following advantages:
1, the structure adopting two pitching linear actuator rear-mounted, moves after making the center of gravity of whole mechanism, thus adds the stability of system in lifting process, reduce the impact that unbalance loading causes mechanism performance.
When 2, optimizing elevating movement, mechanism's rod member distribution of force, avoids instantaneous impulse force to the excessive phenomenon of the impact of solid memder in mechanism, effectively enhances complete machine bearing capacity.
3, there is not deficient input phenomenon in deflection motion, to carry out in the process deflected can not due to forward mounting part of the prior art in there is redundancy skew free degree structure and cause skew not deflect, thus enhance the stability of motion, improve forging quality.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
In figure: slide bar after connector under 1-clamp, 2-, 3-claw beam, 4-are elevated linear actuator, 5-tandem driver, 6-rear suspension rods, 7-, 8-pitching coordinate slide bar, 19-front overhang peg, 20-upper connector before left and right linear actuator after lift arm after bar, 9-pitching connecting rod, 10-, 11-rear connecting rod, 12-pitching linear actuator, 13-frame, 14-, 15-synchronising (connecting) rod, 16-front lift arm, 17-front left and right linear actuator, 18-.
Detailed description of the invention:
In the rear-mounted forging manipulator schematic diagram of a kind of pitching linear actuator shown in Fig. 1, clamp 1 rear end is connected with claw beam 3 front end by turning joint, this claw beam rear end is connected by ball pivot one end with rear suspension rods 6, the other end of this rear suspension rods is connected with in the middle part of rear slide bar 7 by turning joint, the two ends of this rear slide bar are connected with one end of a pair rear left and right linear actuator 14 respectively, after this pair, the other end of left and right linear actuator is connected with a pair pitching connecting rod 8 one end respectively, the both sides that the other end of this pair pitching connecting rod coordinates bar 9 with pitching are respectively connected, the two ends that bar is coordinated in this pitching are connected with one end of lift arm 10 after a pair respectively by turning joint, after this pair, the other end of lift arm is connected with frame 13 respectively by turning joint, two positions that above-mentioned pitching coordinates bar intermediate distance equal are connected with a pair pitching linear actuator 12 respectively by ball pivot, the other end of this pair pitching linear actuator is connected with rear connecting rod 11 respectively by ball pivot, the two ends of this rear connecting rod are connected with a position of above-mentioned a pair rear lift arm respectively, after above-mentioned a pair, another position of lift arm is connected respectively by turning joint one end with a pair synchronising (connecting) rod 15, the other end of this pair synchronising (connecting) rod is connected with a position of a pair front lift arm 16 respectively by turning joint, another position of this pair front lift arm is connected with the one end being elevated linear actuator 4 for a pair respectively by ball pivot, and the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, above-mentioned claw beam is connected near the middle part of a position of clamp and lower connector 2, the two ends of this lower connector are connected respectively by ball dumpling one end with a pair upper connector 20, the other end of this pair upper connector is connected respectively by turning joint one end with a pair front overhang peg 19, the axes intersect of above-mentioned connection upper connector and front overhang peg turning joint, the other end of above-mentioned a pair front overhang peg is connected respectively by the middle part of turning joint with front slide bar 18, the two ends of this front slide bar are connected with one end of a pair front left and right linear actuator 17 respectively, the other end of this pair front left and right linear actuator is connected with one end of above-mentioned a pair front lift arm respectively, the other end of this pair front lift arm is connected with frame respectively by turning joint, in the middle of above-mentioned a pair front overhang peg, a position is connected respectively by ball pivot one end with a pair tandem driver 5, and the other end of this pair tandem driver is connected with frame respectively by ball pivot.
Claims (1)
1. the rear-mounted forging manipulator of pitching linear actuator, 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 rear suspension rods by ball pivot, the other end of this rear suspension rods is connected with in the middle part of rear slide bar by turning joint, the two ends of this rear slide bar are connected with one end of a pair rear left and right linear actuator respectively, after this pair, the other end of left and right linear actuator is connected with a pair pitching connecting rod one end respectively, the both sides that the other end of this pair pitching connecting rod coordinates bar with pitching are respectively connected, the two ends that bar is coordinated in this pitching are connected with one end of lift arm after a pair respectively by turning joint, after this pair, the other end of lift arm is connected with frame respectively by turning joint, two positions that above-mentioned pitching coordinates bar intermediate distance equal are connected with a pair pitching linear actuator respectively by ball pivot, the other end of this pair pitching linear actuator is connected with rear connecting rod respectively by ball pivot, the two ends of this rear connecting rod are connected with a position of above-mentioned a pair rear lift arm respectively, after above-mentioned a pair, another position of lift arm is connected with one end of a pair synchronising (connecting) rod respectively by turning joint, the other end of this pair synchronising (connecting) rod is connected with a position of a pair front lift arm respectively by turning joint, another position of this pair front lift arm is connected with the one end being elevated linear actuator for a pair respectively by ball pivot, and the other end of this pair lifting linear actuator is connected with frame respectively by ball pivot, above-mentioned claw beam is connected near the middle part of a position of clamp and lower connector, the two ends of this lower connector are connected with one end of a pair upper connector respectively by ball dumpling, the other end of this pair upper connector is connected respectively by turning joint one end with a pair front overhang peg, the axes intersect of above-mentioned connection upper connector and front overhang peg turning joint, the other end of above-mentioned a pair front overhang peg is connected respectively by the middle part of turning joint with front slide bar, the two ends of this front slide bar are connected with one end of a pair front left and right linear actuator respectively, the other end of this pair front left and right linear actuator is connected with one end of above-mentioned a pair front lift arm respectively, the other end of this pair front lift arm is connected with frame respectively by turning joint, in the middle of above-mentioned a pair front overhang peg, a position is connected respectively by ball pivot one end with a pair tandem driver, and the other end of this pair tandem driver is connected with frame respectively by ball pivot.
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| CN201510445499.1A CN105033147B (en) | 2015-07-27 | 2015-07-27 | A kind of rear-mounted forging manipulator of pitching linear actuator |
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| CN201510445499.1A CN105033147B (en) | 2015-07-27 | 2015-07-27 | A kind of rear-mounted forging manipulator of pitching linear actuator |
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| CN105033147B CN105033147B (en) | 2017-08-29 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4393683A (en) * | 1980-06-07 | 1983-07-19 | Sms Schloemann-Siemag Aktiengesellschaft | Traction drive for forging manipulators |
| EP0307883A2 (en) * | 1987-09-18 | 1989-03-22 | SMS Hasenclever GmbH | Integrated circuit for a manipulator as well as a coorperating free-form powerpress and a manipulator with a measuring device therefor |
| CN203091650U (en) * | 2013-03-06 | 2013-07-31 | 燕山大学 | Double-drive forging manipulator achieving straight-line lifting |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN104014706A (en) * | 2014-06-05 | 2014-09-03 | 燕山大学 | Large-tonnage lifting mechanism for trackless forging manipulator |
| CN104325062A (en) * | 2014-10-17 | 2015-02-04 | 燕山大学 | Pitching linear actuator and machine frame connection type forging manipulator |
-
2015
- 2015-07-27 CN CN201510445499.1A patent/CN105033147B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4393683A (en) * | 1980-06-07 | 1983-07-19 | Sms Schloemann-Siemag Aktiengesellschaft | Traction drive for forging manipulators |
| EP0307883A2 (en) * | 1987-09-18 | 1989-03-22 | SMS Hasenclever GmbH | Integrated circuit for a manipulator as well as a coorperating free-form powerpress and a manipulator with a measuring device therefor |
| CN203091650U (en) * | 2013-03-06 | 2013-07-31 | 燕山大学 | Double-drive forging manipulator achieving straight-line lifting |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN104014706A (en) * | 2014-06-05 | 2014-09-03 | 燕山大学 | Large-tonnage lifting mechanism for trackless forging manipulator |
| 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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| CN105033147B (en) | 2017-08-29 |
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