CN202894178U - Forging manipulator of six degrees of freedom - Google Patents
Forging manipulator of six degrees of freedom Download PDFInfo
- Publication number
- CN202894178U CN202894178U CN 201220559289 CN201220559289U CN202894178U CN 202894178 U CN202894178 U CN 202894178U CN 201220559289 CN201220559289 CN 201220559289 CN 201220559289 U CN201220559289 U CN 201220559289U CN 202894178 U CN202894178 U CN 202894178U
- Authority
- CN
- China
- Prior art keywords
- pair
- linear actuator
- turning joint
- rod
- lift arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
Provided is a forging manipulator of six degrees of freedom. The rear end of a clamp of the forging manipulator is hinged with a clamp rod. A pitching linear actuator is hinged with the clamp rod and a rear slide rod. Two ends of the rear slide rod are fixedly connected to a rear left-right linear actuator which is fixedly connected to a rear machine frame. A front lifting arm and a rear lifting arm are respectively hinged with a machine frame and a synchronous connecting rod, and a lifting linear actuator is hinged with the rear lifting arm and the machine frame. A front coordination rod is fixedly connected with the clamp rod. A front hanging rod is hinged with the front coordination rod and a front connecting piece, the front connecting piece is hinged with a front slide rod, and two ends of the front slide rod are fixedly connected to a front left-right linear actuator which is fixedly connected to the front lifting arm. A front-rear linear actuator and the front hanging rod are hinged with two ends of a rear coordination rod which is hinged with the machine frame. The forging manipulator of six degrees of freedom can achieve forging operation of six degrees of freedom, is high in overall bearing capacity, and enhances stability and accuracy of clamp movement.
Description
Technical fieldThe utility model relates to a kind of forging manipulator.
Background technologyForging manipulator is one of basic tool of large-sized forging pressure processing, is a capital equipment realizing forging and pressing production mechanization, automation, is used with forging press.Present forging manipulator has steel wire hang formula, multi-bar linkage combined type etc.Steel wire hang formula forging manipulator operational capacity is less, is used for small-sized forging.Multi-bar linkage combined type forging manipulator operational capacity is large, is used for large-sized forging.Find through retrieval, publication number is that the Chinese patent of CN 10191674 A discloses a kind of forging manipulator lifting mechanism, during its lifter motion, a pair of pitching linear actuator replaces synchronising (connecting) rod to play synchronous effect, but linear actuator belongs to flexible member, and when unbalance loading was born by mechanism, the linear actuator of two symmetries changed inconsistent, can not play synchronous effect, affect lifter motion.Find also that through retrieval DYH series forging manipulator does not have six degree of freedom, can not satisfy the forging requirement of forging; Also have some mechanisms to have restraint condition, be difficult for processing and assembling.
Summary of the inventionThe purpose of this utility model is to provide a kind of six-freedom degree forging manipulator that strengthens kinetic stability.The utility model 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: a pair of front coordination bar, a pair of front overhang peg, front lift arm, rear lift arm, a pair of lifting linear actuator, a pair of synchronising (connecting) rod and a pair of front connector; Described elevation mount comprises: the 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 sides linear actuator.
Wherein, the clamp rear end is connected with the claw beam front end by turning joint, the claw beam rear end is connected with an 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 slide bar and an end of a pair of rear left and right sides linear actuator connect firmly after being somebody's turn to do, and the other end of this a pair of rear left and right sides linear actuator connects firmly on frame.The middle part of front coordination bar and above-mentioned claw beam connect firmly near a position of clamp, should frontly coordinate the bar two ends is connected with an end of a pair of front overhang peg respectively by ball pivot, the other end of this a pair of front overhang peg is connected with an end of a pair of front connector respectively by turning joint, the other end of this a pair of front connector is connected on the front slide bar by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator respectively, the other end of this a pair of front left and right linear actuator connects firmly respectively on front lift arm, one end of this front lift arm is connected with frame by turning joint, the other end of this front lift arm is connected with an end of a pair of synchronising (connecting) rod by turning joint, the other end of this a pair of synchronising (connecting) rod is connected with rear lift arm respectively by turning joint, an end of lift arm is connected with frame by turning joint after being somebody's turn to do, the other end of above-mentioned rear lift arm is connected with an end of a pair of lifting linear actuator respectively by turning joint, and the other end of this a pair of lifting linear actuator is connected with frame respectively by turning joint.One end of a pair of front and back linear actuator is connected with a position of above-mentioned a pair of front overhang peg respectively by ball pivot, the other end of this a pair of front and back linear actuator is connected to rear coordination bar two ends by ball pivot, and the middle part of coordinating bar after this is connected with frame by turning joint.
The elevating movement process of the utility model forging manipulator: lift arm after a pair of lifting linear actuator promotes, drive front lift arm by a pair of synchronising (connecting) rod, thereby slide bar, front connector, front overhang peg, front coordination bar are done up and down and are synchronized with the movement before driving, simultaneously pitching linear actuator drives the claw beam rear end and moves up and down, and moves up and down thereby drive claw beam.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, back and forth movement before and after connector is done before driving, and then drive claw beam and clamp and do and seesaw.The elevating movement process: the pitching linear motion driver directly drives the claw beam rear end and does and face upward up and down the motion of bowing.Deflection and offset movement process: slide bar moved before the front left and right linear actuator promoted, and drove a pair of front rod and a pair of front overhang peg, realized transverse movement from the anterior claw beam that drives of claw beam; Slide bar moved after rear left and right sides linear actuator promoted, and drove the pitching linear actuator and moved, and drove claw beam from the claw beam rear portion and realized transverse movement.Consistent with rear left and right sides linear actuator driving direction and big or small when identical when the front left and right linear actuator, claw beam is realized transverse motion; When the front left and right linear actuator and after the opposite or driving amount of left and right sides linear actuator driving direction not simultaneously, claw beam is realized oscillating motion.Clamp rotary course: it is rotated by driving the clamp rear end around the rear end hinge axes.
The utility model compared with prior art has following advantage:
1, the synchronising (connecting) rod two ends couple together front lift arm and rear lift arm by hinge respectively, have improved the bearing capacity of lift arm, and two parts motion before and after having coordinated has strengthened stability and the accuracy of moving.
2, clamp has six-freedom degree, but clamping is forged under various orientation and various attitude flexibly by the forger part.
3, there was not restraint condition in whole mechanism, was convenient to installation, current check and maintenance.
Description of drawings
Fig. 1 is schematic perspective view of the present utility model.
Among the figure: coordinate behind left and right sides linear actuator, the 7-behind linear actuator, the 6-before and after slide bar behind 1-clamp, 2-claw beam, the 3-, 4-pitching linear actuator, the 5-to coordinate bar before connector before slide bar before lift arm behind bar, 8-lifting linear actuator, 9-frame, the 10-, 11-synchronising (connecting) rod, 12-front lift arm, 13-front left and right linear actuator, the 14-, the 15-, 16-front overhang peg, the 17-.
The specific embodiment:
In the simplified schematic diagram of a kind of six-freedom-degree manipulator for forging shown in Figure 1, clamp 1 rear end is connected with claw beam 2 front ends by turning joint, this claw beam rear end is connected with an end of pitching linear actuator 4 by ball pivot, the other end of this pitching linear actuator is connected with rear slide bar 3 by turning joint, the two ends of slide bar and an end of a pair of rear left and right sides linear actuator 6 connect firmly after being somebody's turn to do, and the other end of this a pair of rear left and right sides linear actuator connects firmly on frame 9.The middle part of front coordination bar 17 and above-mentioned claw beam connect firmly near a position of clamp, should be connected with an end of a pair of front overhang peg 16 respectively by ball pivot at front two ends of coordinating bar, the other end of this front overhang peg is connected with an end of a pair of front connector 15 respectively by turning joint, this a pair of front connector other end is connected on the front slide bar 14 by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator 13 respectively, the other end of this a pair of front left and right linear actuator connects firmly respectively on front lift arm 12, one end of this front lift arm is connected with frame by turning joint, the other end of this front lift arm is connected with an end of a pair of synchronising (connecting) rod 11 by turning joint, the other end of this a pair of synchronising (connecting) rod is connected with rear lift arm 10 respectively by turning joint, an end of lift arm is connected with frame by turning joint after being somebody's turn to do, the other end of above-mentioned rear lift arm is connected with an end of a pair of lifting linear actuator 8 respectively by turning joint, and the other end of this a pair of lifting linear actuator is connected with frame respectively by turning joint.One end of a pair of front and back linear actuator 5 is connected with a position of above-mentioned a pair of front overhang peg respectively by ball pivot, and the other end of this a pair of front and back linear actuator is connected to rear coordination bar 7 two ends by ball pivot.Should be connected with frame by turning joint at rear middle part of coordinating bar.
Claims (1)
1. six-freedom-degree manipulator for forging, it is characterized in that: the clamp rear end is connected with the claw beam front end by turning joint, the claw beam rear end is connected with an 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 slide bar and an end of a pair of rear left and right sides linear actuator connect firmly after being somebody's turn to do, and the other end of this a pair of rear left and right sides linear actuator connects firmly on frame; The middle part of front coordination bar and above-mentioned claw beam connect firmly near a position of clamp, should frontly coordinate the bar two ends is connected with an end of a pair of front overhang peg respectively by ball pivot, the other end of this a pair of front overhang peg is connected with an end of a pair of front connector respectively by turning joint, the other end of this a pair of front connector is connected on the front slide bar by turning joint, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator respectively, the other end of this a pair of front left and right linear actuator connects firmly respectively on front lift arm, one end of this front lift arm is connected with frame by turning joint, the other end of this front lift arm is connected with an end of a pair of synchronising (connecting) rod by turning joint, the other end of this a pair of synchronising (connecting) rod is connected with rear lift arm respectively by turning joint, an end of lift arm is connected with frame by turning joint after being somebody's turn to do, the other end of above-mentioned rear lift arm is connected with an end of a pair of lifting linear actuator respectively by turning joint, and the other end of this a pair of lifting linear actuator is connected with frame respectively by turning joint; One end of a pair of front and back linear actuator is connected with a position of above-mentioned a pair of front overhang peg respectively by ball pivot, the other end of this a pair of front and back linear actuator is connected to rear coordination bar two ends by ball pivot, and the middle part of coordinating bar after this is connected with frame by turning joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559289 CN202894178U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator of six degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559289 CN202894178U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator of six degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202894178U true CN202894178U (en) | 2013-04-24 |
Family
ID=48114897
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220559289 Withdrawn - After Issue CN202894178U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator of six degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202894178U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921868A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Six-degree-of-freedom forging manipulator |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN104014706A (en) * | 2014-06-05 | 2014-09-03 | 燕山大学 | Large-tonnage lifting mechanism for trackless forging manipulator |
| CN104209440A (en) * | 2014-08-20 | 2014-12-17 | 燕山大学 | Forging operation machine with optimized deflection mechanism |
-
2012
- 2012-10-30 CN CN 201220559289 patent/CN202894178U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921868A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Six-degree-of-freedom forging manipulator |
| CN102921868B (en) * | 2012-10-30 | 2015-01-07 | 燕山大学 | Six-degree-of-freedom forging manipulator |
| CN103537604A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Six-freedom-degree forging manipulator |
| CN103537598A (en) * | 2013-09-23 | 2014-01-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN103537598B (en) * | 2013-09-23 | 2015-04-29 | 燕山大学 | Forging manipulator with optimized deflector |
| CN103537604B (en) * | 2013-09-23 | 2015-09-16 | 燕山大学 | A kind of six-freedom-degree manipulator for forging |
| CN104014706A (en) * | 2014-06-05 | 2014-09-03 | 燕山大学 | Large-tonnage lifting mechanism for trackless forging manipulator |
| CN104014706B (en) * | 2014-06-05 | 2015-11-18 | 燕山大学 | A kind of large-tonnage trackless forging manipulator lifting mechanism |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202894178U (en) | Forging manipulator of six degrees of freedom | |
| CN102921867B (en) | Forging manipulator | |
| CN102921869B (en) | Double-lift driven forging manipulator | |
| CN202894181U (en) | Forging manipulator capable of optimizing and lifting motion | |
| CN102935481A (en) | Suspension type forging manipulator of lifting mechanism | |
| CN102921868A (en) | Six-degree-of-freedom forging manipulator | |
| CN202894191U (en) | Less coupling motor type forging manipulator | |
| CN202894189U (en) | Lift arm suspension type forging manipulator | |
| CN103537604B (en) | A kind of six-freedom-degree manipulator for forging | |
| CN202894180U (en) | Double lifting drive forging manipulator | |
| CN202894182U (en) | Forging manipulator | |
| CN202894179U (en) | Single lifting arm forging manipulator | |
| CN102941305A (en) | Lift arm suspension type forging manipulator | |
| CN202894195U (en) | Double suspension rods type six free degrees forging operating machine | |
| CN102935477B (en) | Six-degree-of-freedom forging manipulator | |
| CN102941303B (en) | Forging manipulator with few coupled motions | |
| CN103341584B (en) | Linear lifting forging manipulator for optimizing lifting driving device | |
| CN102935482B (en) | Synchronous connecting rod forwardly-connected forging manipulator | |
| CN202894194U (en) | Synchronous connecting rod forward-connecting forging manipulator | |
| CN202894185U (en) | Forging manipulator of six degrees of freedom | |
| CN102935474B (en) | Single-lifting-arm forging manipulator | |
| CN202894187U (en) | Forging manipulator capable of optimizing and lifting drive | |
| CN202894186U (en) | Forging manipulator capable of reducing movement energy consumption of clamp | |
| CN203091650U (en) | Double-drive forging manipulator achieving straight-line lifting | |
| CN203091649U (en) | Forging manipulator achieving straight-line lifting under redundant drive |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130424 Effective date of abandoning: 20150107 |
|
| RGAV | Abandon patent right to avoid regrant |