CN202894181U - Forging manipulator capable of optimizing and lifting motion - Google Patents
Forging manipulator capable of optimizing and lifting motion Download PDFInfo
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- CN202894181U CN202894181U CN 201220559343 CN201220559343U CN202894181U CN 202894181 U CN202894181 U CN 202894181U CN 201220559343 CN201220559343 CN 201220559343 CN 201220559343 U CN201220559343 U CN 201220559343U CN 202894181 U CN202894181 U CN 202894181U
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- turning joint
- lifting
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Abstract
Provided is a forging manipulator capable of optimizing and lifting motion. A clamp of the forging manipulator is hinged with the front end of a clamp rod. One part, close to the clamp, of the clamp rod is fixedly connected with a front coordination rod. The front coordination rod is connected with a front hanging rod through a spherical hinge. A connecting piece is respectively hinged with the front hanging rod and a front slide rod. Two ends of a front left-right linear actuator are respectively fixedly connected to a front lifting arm and the front slide rod. A synchronous connecting rod is respectively hinged with the front lifting arm and a rear lifting arm. A rear left-right linear actuator is respectively fixedly connected with the rear lifting arm and a rear slide rod. A lifting linear actuator is hinged with the synchronous connecting rod and a machine frame. A front-rear linear actuator is connected with the front hanging rod and a rear coordination rod through spherical hinges. The rear coordination rod is hinged on the machine frame. One end of a pitching linear actuator is hinged on the rear slide rod, and the other end of the pitching linear actuator is connected with the rear end of the clamp rod through a spherical hinge. The forging manipulator capable of optimizing and lifting the motion optimizes a lifting device, reduces energy loss in the lifting process, and can easily and accurately maintain horizontal lifting of the clamp.
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, and multi-bar linkage combined type forging manipulator operational capacity is large, is used for large-sized forging.Find through the retrieval to existing forging operation machine technology, publication number is that the Chinese patent of CN 101879571 A discloses a kind of forging manipulator lifting mechanism with inclined rear suspension rods, this manipulator hoisting mechanism rear-mounted partly links to each other with the claw beam rear portion with the rear suspension rods that two inclinations are arranged symmetrically with, but two lifting linear actuators place the front lift arm lower end, the synchronising (connecting) rod that serves as by a pair of pitching linear actuator during motion is delivered to rear lift arm with lifting force, its lifting force is weakened, the lifter motion poor effect.Also find through retrieval, publication number is that the Chinese patent of CN 101279353 A discloses a kind of Equidirectional type six-freedom-degree manipulator for forging, its hoisting mechanism by front and back two parts in the same way lifting finish lifter motion, although avoided longer synchronising (connecting) rod transmission to promote hypodynamic situation, but its lifting need be controlled two pairs of hydraulic cylinders, and complicated operation is difficult to guarantee that clamp is horizontal lifting, thereby affect machining accuracy, reduce working (machining) efficiency.
Summary of the inventionThe purpose of this utility model be to provide a kind of simple to operate, working (machining) efficiency is high can optimize and promote the forging manipulator that drives.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: front lift arm, rear lift arm, a pair of front overhang peg, a pair of synchronising (connecting) rod, a pair of lifting linear actuator, front connector and front coordination bar; 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 and a pair of rear left and right sides linear actuator.
Wherein, the clamp rear end links to each other with the claw beam front end by turning joint, this claw beam connects firmly near a position and the front coordination bar of clamp, should link to each other with a pair of front overhang peg by ball pivot respectively at front two ends of coordinating bar, the other end of this a pair of front overhang peg links to each other with an end of a pair of front connector by turning joint respectively, the other end of this a pair of front connector is arranged symmetrically on the front slide bar by turning joint respectively, 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 with an end of front lift arm respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear actuator respectively, the other end of this a pair of rear left and right sides linear actuator connects firmly with the two ends of rear slide bar respectively, one end of pitching linear actuator is connected on the above-mentioned rear slide bar by turning joint, the other end of this pitching linear actuator links to each other with the rear end of above-mentioned claw beam by ball pivot, one position of above-mentioned front lift arm and a position of rear lift arm are connected on the frame by turning joint respectively, one position of above-mentioned a pair of front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator respectively, the other end of this a pair of front and back linear actuator links to each other with an end of rear coordination bar by ball pivot respectively, should be connected on the above-mentioned frame by turning joint at rear middle part of coordinating bar, one position of above-mentioned synchronising (connecting) rod links to each other with an end of a pair of lifting linear actuator by turning joint respectively, and the other end of this a pair of lifting linear actuator is connected on the above-mentioned frame by turning joint respectively.
The utility model forging manipulator elevating movement process: a pair of lifting linear actuator promotes synchronising (connecting) rod, drive front lift arm, front overhang peg, front left and right linear actuator, front slide bar, front connector, front coordination bar and rear lift arm, rear left and right sides linear actuator, rear slide bar, pitching linear actuator are done up and down and are synchronized with the movement, move up and down thereby drive the claw beam front-end and back-end, realize the horizontal lifting motion of claw beam and clamp.Process seesaws: a pair of front and back linear actuator promotes a pair of front overhang peg, and coordination bar, claw beam and clamp are done and seesawed before driving.The elevating movement process: the pitching linear actuator promotes the claw beam rear end, and drive claw beam rear end is done and faced upward up and down the motion of bowing, and the claw beam front end remains unchanged with the position that front coordination bar links to each other, and does elevating movement thereby drive clamp.The deflection motion process: slide bar before a pair of front left and right linear actuator promotes, drive a pair of front connector and a pair of front overhang peg, realize transverse shifting from the anterior claw beam that drives of claw beam; Slide bar after a pair of rear left and right sides linear actuator promotes, drive the pitching linear actuator, drive claw beam from the claw beam rear portion and realize transverse shifting, consistent with a pair of rear left and right sides linear actuator driving direction and big or small when identical when a pair of front left and right linear actuator, claw beam is realized offset movement; When a pair of front left and right linear actuator and a pair of 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 movement: 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 lifting linear actuator directly drives synchronising (connecting) rod, has reduced the transmission moving link number from the driver to the clamp, thereby has reduced the energy loss in the motion transmittance process, has improved the mechanical efficiency of manipulator.
2, mechanism's lifting process only need be controlled a pair of drive unit, and is simple to operate, and can keep accurately the clamp horizontal lifting, guarantees machining accuracy, improves working (machining) efficiency.
Description of drawings
Fig. 1 is schematic perspective view of the present utility model.
Among the figure: coordinate to coordinate behind linear actuator before and after bar, 3-claw beam, 4-pitching linear actuator, 5-lifting linear actuator, the 6-, the 7-connector before slide bar before left and right sides linear actuator behind slide bar behind lift arm behind bar, the 8-, the 9-, the 10-, 11-synchronising (connecting) rod, 12-frame, 13-front lift arm, 14-front left and right linear actuator, the 15-, the 16-, 17-front overhang peg before the 1-clamp, 2-.
The specific embodiment
In the schematic diagram of mechanism of a kind of forging manipulator that can optimize lifter motion shown in Figure 1, clamp 1 rear end links to each other with claw beam 3 front ends by turning joint, this claw beam connects firmly near a position of clamp and the middle part of front coordination bar 2, should link to each other with a pair of front overhang peg 17 by ball pivot respectively at front two ends of coordinating bar, the other end of this a pair of front overhang peg links to each other with an end of a pair of front connector 16 by turning joint respectively, the other end of this a pair of front connector is arranged symmetrically on the front slide bar 15 by hinge respectively, should before the two ends of slide bar connect firmly with an end of a pair of front left and right linear actuator 14 respectively, the other end of this a pair of front left and right linear actuator connects firmly with an end of front lift arm 13 respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod 11 by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm 8 by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear drives 10 respectively, the other end of this a pair of rear left and right sides linear actuator connects firmly with the two ends of rear slide bar 9 respectively, one end of pitching linear actuator 4 is connected to above-mentioned rear slide bar middle part by turning joint, the other end of this pitching linear actuator links to each other with the rear end of above-mentioned claw beam by ball pivot, one position of above-mentioned front lift arm and a position of rear lift arm are connected on the frame 12 by turning joint respectively, one position of above-mentioned a pair of front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator 6 respectively, the other end of this a pair of front and back linear actuator links to each other with an end of rear coordination bar 7 by ball pivot respectively, should be connected on the above-mentioned frame by turning joint at rear middle part of coordinating bar, one position of above-mentioned synchronising (connecting) rod links to each other with an end of a pair of lifting linear actuator 5 by turning joint respectively, and the other end of this a pair of lifting linear actuator is connected on the above-mentioned frame by turning joint respectively.
Claims (1)
1. the forging manipulator that can optimize lifter motion, it is characterized in that: the clamp rear end links to each other with the claw beam front end by turning joint, this claw beam connects firmly near a position and the front coordination bar of clamp, should link to each other with a pair of front overhang peg by ball pivot respectively at front two ends of coordinating bar, the other end of this a pair of front overhang peg links to each other with an end of a pair of front connector by turning joint respectively, the other end of this a pair of front connector is arranged symmetrically on the front slide bar by turning joint respectively, 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 with an end of front lift arm respectively, the other end of this front lift arm links to each other with an end of a pair of synchronising (connecting) rod by turning joint respectively, the other end of this a pair of synchronising (connecting) rod links to each other with an end of rear lift arm by turning joint respectively, should after the other end of lift arm connect firmly with an end of a pair of rear left and right sides linear actuator respectively, the other end of this a pair of rear left and right sides linear actuator connects firmly with the two ends of rear slide bar respectively, one end of pitching linear actuator is connected on the above-mentioned rear slide bar by turning joint, the other end of this pitching linear actuator links to each other with the rear end of above-mentioned claw beam by ball pivot, one position of above-mentioned front lift arm and a position of rear lift arm are connected on the frame by turning joint respectively, one position of above-mentioned a pair of front overhang peg links to each other by the end of ball pivot with a pair of front and back linear actuator respectively, the other end of this a pair of front and back linear actuator links to each other with an end of rear coordination bar by ball pivot respectively, should be connected on the above-mentioned frame by turning joint at rear middle part of coordinating bar, one position of above-mentioned a pair of synchronising (connecting) rod links to each other with an end of a pair of lifting linear actuator by turning joint respectively, and the other end of this a pair of lifting linear actuator is connected on the above-mentioned frame by turning joint respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559343 CN202894181U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator capable of optimizing and lifting motion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220559343 CN202894181U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator capable of optimizing and lifting motion |
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| Publication Number | Publication Date |
|---|---|
| CN202894181U true CN202894181U (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220559343 Withdrawn - After Issue CN202894181U (en) | 2012-10-30 | 2012-10-30 | Forging manipulator capable of optimizing and lifting motion |
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| CN (1) | CN202894181U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921870A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator capable of optimizing lifting motion |
| CN103381464A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel rod type lifting mechanism for forging manipulator |
| CN104209440A (en) * | 2014-08-20 | 2014-12-17 | 燕山大学 | Forging operation machine with optimized deflection mechanism |
| CN104289653A (en) * | 2014-09-15 | 2015-01-21 | 燕山大学 | Main movement mechanism of redundant drive forging operation machine |
-
2012
- 2012-10-30 CN CN 201220559343 patent/CN202894181U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102921870A (en) * | 2012-10-30 | 2013-02-13 | 燕山大学 | Forging manipulator capable of optimizing lifting motion |
| CN103381464A (en) * | 2013-07-01 | 2013-11-06 | 燕山大学 | Parallel rod type lifting mechanism for forging manipulator |
| 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 |
| CN104289653A (en) * | 2014-09-15 | 2015-01-21 | 燕山大学 | Main movement mechanism of redundant drive forging operation machine |
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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: 20141015 |
|
| RGAV | Abandon patent right to avoid regrant |