CN202894195U - Double suspension rods type six free degrees forging operating machine - Google Patents
Double suspension rods type six free degrees forging operating machine Download PDFInfo
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- CN202894195U CN202894195U CN 201220561408 CN201220561408U CN202894195U CN 202894195 U CN202894195 U CN 202894195U CN 201220561408 CN201220561408 CN 201220561408 CN 201220561408 U CN201220561408 U CN 201220561408U CN 202894195 U CN202894195 U CN 202894195U
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Abstract
Provided is a double suspension rods type six free degrees forging operating machine. A clamp thereof and the front end of the clamp rod are in a hinged connection, a front connector and the clamp rod are connected with a front left-and-right linear actuator in a fixed mode, a middle connector and the clamp rod is fixedly connected with a middle left-and-right linear actuator, and a rear left-and-right linear actuator is fixedly connected with the clamp rod, and hinged with a rear suspension rod. A front suspension rod and the front left-and-right linear actuator are hinged with a front lifting arm; a rear suspension rod and a rear left-and-right linear actuator are hinged with a rear lifting arm. The front lifting arm and the rear lifting arm are hinged on a cart frame. The lifting linear actuator and the front lifting arm are connected with the middle left-and-right linear actuator. A pitching linear actuator and the rear suspension rod are hinged with the front lifting arm, or the pitching linear actuator is hinged with the front lifting arm and the rear lifting arm. The lifting linear actuator and the suspension rod are hinged with the cart frame. The double suspension rods type six free degrees forging operating machine can achieve the six free degrees forging operation, has a structure with double suspension rods so as to guarantee the stability and accuracy of the 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, and 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 102019340 A discloses a kind of forging manipulator, this manipulator directly couples together rear lift arm and claw beam rear end by driver, motion and the transmission of power all thus single driver finish, not only reduced mechanism's integrated carrying ability, also indirectly reduced simultaneously driving force, and it belongs to single hanger bar mechanism, the whole load-carrying of mechanism all thus bar bear, be unfavorable for the adjustment to heavy forging blank pose.Publication number is the disclosed a kind of forging manipulator of the Chinese patent of CN 102303089 A, adopts lower pair to connect, but can not satisfy the forging requirement of comprehensive six degree of freedom.
Summary of the inventionThe purpose of this utility model is to provide a kind of bearing capacity strong, has two rod-type six-freedom-degree manipulator for forging that hang of six-freedom degree.The utility model mainly comprises cart rotation and mobile device, clamp rotating device, lifting device, elevation mount, front and back buffer unit and left and right sides buffer unit.
Wherein, cart rotation and mobile device comprise: large chassis, large vehicle carriage and travel mechanism.Large chassis is connected with the cart bottom of frame by hinge, and travel mechanism is installed on the large chassis, and this travel mechanism can be that moving sets also can be wheel.
The clamp rotating device comprises: claw beam and clamp.The clamp rear end is connected with the claw beam front end by hinge, and the front end of this claw beam connects firmly in the centre bore of front connector, and the middle part of this claw beam connects firmly in the centre bore of rear connectors, and the middle part of the rear end of this claw beam and a pair of rear left and right sides linear actuator connects firmly.
Lifting device comprises: above-mentioned front connector and rear connectors, front lift arm, rear lift arm, a pair of lifting linear actuator, a pair of front overhang peg and a pair of rear suspension rods.It has two kinds of connected modes, first kind of way is that the both sides of above-mentioned front connector connect firmly with an end of a pair of front left and right linear actuator respectively, this front left and right linear actuator is hinged on a pair of front overhang peg, one end of this front overhang peg links to each other with an end of front lift arm by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, its other end links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator links to each other with an end of rear suspension rods by hinge, one position of this rear suspension rods is connected through the hinge on large vehicle carriage two side, its other end links to each other with an end of rear lift arm by hinge, and position of lift arm is connected through the hinge on large vehicle carriage two side after this.The second way is that the both sides of above-mentioned front connector connect firmly with an end of a pair of front left and right linear actuator respectively, this front left and right linear actuator is hinged on a pair of front overhang peg, the other end of this front overhang peg links to each other with an end of front lift arm by hinge, one position of this front lift arm is connected through the hinge on large vehicle carriage two side, one position of rear lift arm is connected through the hinge on large vehicle carriage two side, one end of above-mentioned rear lift arm links to each other with an end of rear suspension rods by hinge, one position of this rear suspension rods links to each other with an end of a pair of lifting linear actuator by hinge, and the other end of this lifting linear actuator is connected through the hinge on large vehicle carriage two side.
Described elevation mount comprises: a pair of pitching linear actuator.An end of a pair of pitching linear actuator links to each other with the other end of rear lift arm by hinge in the above-mentioned first kind of way, and its other end is connected through the hinge on large vehicle carriage two side.An end of a pair of pitching linear actuator links to each other with the other end of front lift arm by hinge in the above-mentioned second way, and its other end links to each other with the rear lift arm other end by hinge.
Described left and right sides buffer unit comprises: a pair of front left and right linear actuator, a pair of middle left and right sides linear actuator and rear left and right sides linear actuator.One end of a pair of front left and right linear actuator connects firmly the both sides at above-mentioned front connector, one end of a pair of middle left and right sides linear actuator connects firmly the both sides at middle connector, the middle part of rear left and right sides linear actuator and above-mentioned claw beam rear end connect firmly, and left and right sides linear actuator is hinged on the above-mentioned rear suspension rods after this.
Described front and back buffer unit comprises: a pair of front and back linear actuator.A pair of front and back linear actuator one end in the above-mentioned first kind of way links to each other with front lift arm by hinge, and its other end links to each other with the other end of above-mentioned rear suspension rods by hinge.A pair of front and back linear actuator one end in the above-mentioned second way links to each other with a position of above-mentioned front overhang peg by hinge, and its other end links to each other with a pair of middle left and right sides linear actuator by hinge.
Above-mentioned a pair of front overhang peg, a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of pitching linear actuator, a pair of front left and right linear actuator and the equal left-right symmetry of a pair of middle left and right sides linear actuator are installed on the large vehicle carriage.
The elevating movement process of above-mentioned the first forging manipulator: a pair of lifting linear actuator promotes front lift arm, driving a pair of front overhang peg, a pair of front left and right linear actuator and front connector does up and down and is synchronized with the movement, thereby driving the claw beam front end moves up and down, lift arm after a pair of pitching linear actuator directly promotes simultaneously, drive the claw beam rear end and move up and down, and then drive claw beam and clamp moves up and down.Process seesaws: directly drive cart by travel mechanism first, drive forging manipulator integral body is done and is seesawed, when forging manipulator clamp during near processing work, promote a pair of front overhang peg by a pair of front and back linear actuator again, drive a pair of front left and right linear actuator, front connector do before and after back and forth movement, and then drive clamp and do and seesaw.Elevating movement process: lift arm after a pair of pitching linear actuator promotes, the claw beam rear end that drives rear suspension rods and rear left and right sides linear actuator and connect firmly with it is done and is faced upward up and down the motion of bowing, and the hinge axes position that the front left and right linear drives links to each other with the front overhang peg remains unchanged, and does elevating movement thereby drive clamp.The transverse motion process: connector and rear connectors and claw beam thereof before a pair of front left and right linear actuator, a pair of middle left and right sides linear actuator and a pair of rear left and right sides linear actuator drive respectively in the same way drive claw beam and clamp and do transverse movement.Clamp rotation process: it is rotated by driving the clamp rear end around the rear end hinge axes.Oscillating motion process: by driving the cart bottom of frame it is rotated around the bottom hinge axis, drive the forging manipulator Integral swinging, realize the stable oscillating motion of clamp.
The elevating movement process of above-mentioned the second forging manipulator: a pair of lifting linear actuator promotes a pair of rear suspension rods, lift arm, a pair of pitching linear actuator, a pair of front overhang peg, a pair of front left and right linear actuator and front connector are done up and down and are synchronized with the movement after driving, move up and down thereby drive claw beam, and then drive claw beam and clamp moves up and down.Process seesaws: directly drive cart by travel mechanism first, drive forging manipulator integral body is done and is seesawed, when forging manipulator clamp during near processing work, promote a pair of front overhang peg by a pair of front and back linear actuator again, drive a pair of front left and right linear actuator, front connector do before and after back and forth movement, and then drive clamp and do and seesaw.The elevating movement process: a pair of pitching linear actuator promotes front lift arm, the claw beam that drives front overhang peg, front left and right linear actuator and front connector and connect firmly with it is done and is faced upward up and down the motion of bowing, then the linear drives hinge axes position that links to each other with rear suspension rods in the left and right sides remains unchanged, and does elevating movement thereby drive clamp.The transverse motion process: connector and rear connectors and claw beam thereof before a pair of front left and right linear actuator, a pair of middle left and right sides linear actuator and a pair of rear left and right sides linear actuator drive respectively in the same way drive claw beam and clamp and do transverse movement.Clamp rotation process: it is rotated by driving the clamp rear end around the rear end hinge axes.Oscillating motion process: by driving the cart bottom of frame it is rotated around the bottom hinge axis, drive the forging manipulator Integral swinging, realize the stable oscillating motion of clamp.
The utility model compared with prior art has following advantage:
1, adopts two hanger bar devices, guaranteed stationarity and the accuracy of motion, improved the bearing capacity of manipulator.
2, clamp has six-freedom degree, but clamping is forged under various orientation and various attitude flexibly by the forger part.
Description of drawings:
Fig. 1 is that the master of the utility model embodiment 1 looks simplified schematic diagram.
Fig. 2 is the inner three-dimensional simplified schematic diagram of the large vehicle carriage of Fig. 1.
Fig. 3 is that the master of the utility model embodiment 2 looks simplified schematic diagram.
Fig. 4 is the inner three-dimensional simplified schematic diagram of the large vehicle carriage of Fig. 3.
Among the figure: lift arm behind connector, 15-claw beam, 16-front lift arm, the 17-among connector, the 14-before left and right sides linear actuator, the 13-behind left and right sides linear actuator, the 12-among linear actuator, 7-front overhang peg, 8-rear suspension rods, 9-clamp, 10-front left and right linear actuator, the 11-before and after the large vehicle carriage of 1-, the large chassis of 2-, 3-wheel, 4-lifting linear actuator, 5-pitching linear actuator, 6-.
The specific embodiment:
In the simplified schematic diagram of a kind of two suspension rod-type six-freedom-degree manipulator for forging illustrated in figures 1 and 2, the cart bottom of frame is connected with large chassis by hinge, and the wheel symmetry is installed on the large chassis.The clamp rear end is connected with the claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, should before the both sides of connector connect firmly with an end of a pair of front left and right linear actuator respectively, this a pair of front left and right linear actuator is hinged on a pair of front overhang peg, one end of this a pair of front overhang peg links to each other with an end of front lift arm by hinge, the other end of this front lift arm links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator links to each other with an end of rear suspension rods by hinge, one position of this rear suspension rods is connected with rear left and right sides linear actuator by hinge, the middle part of left and right sides linear actuator connects firmly the rear end at above-mentioned claw beam after being somebody's turn to do, the middle part of above-mentioned claw beam connects firmly in the centre bore of middle connector, should in the both sides of connector connect firmly with an end of a pair of middle left and right sides linear actuator respectively, this a pair of middle left and right sides linear actuator is hinged on the linear actuator of a pair of front and back, one end of this a pair of front and back linear actuator links to each other by the other end of hinge with above-mentioned front overhang peg respectively, one position of above-mentioned front lift arm is connected on the large vehicle carriage two side by hinge A, the other end of above-mentioned rear suspension rods links to each other with an end of rear lift arm by hinge, the other end of lift arm links to each other with an end of a pair of pitching linear actuator by hinge respectively after being somebody's turn to do, the other end of this a pair of pitching linear actuator is connected on the large vehicle carriage two side by hinge C respectively, and a position of above-mentioned rear lift arm is connected on the large vehicle carriage two side by hinge B.
Above-mentioned a pair of front overhang peg, a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of pitching linear actuator, a pair of front left and right linear actuator, the equal left-right symmetry of a pair of middle left and right sides linear actuator are installed on the large vehicle carriage.
In Fig. 3 and a kind of two simplified schematic diagram that hang the rod-type six-freedom-degree manipulator for forging shown in Figure 4, the cart bottom of frame is connected with large chassis by hinge, and the wheel symmetry is installed in the bottom of large chassis.The clamp rear end is connected with the claw beam front end by hinge, the claw beam front end connects firmly in the central through hole of front connector, should before the both sides of connector connect firmly with an end of a pair of front left and right linear actuator respectively, being hinged on a pair of front overhang peg of this a pair of front left and right linear actuator, the other end of this a pair of front overhang peg links to each other with an end of front lift arm by hinge respectively, the other end of this front lift arm links to each other with an end of a pair of pitching linear actuator by hinge respectively, the other end of this a pair of pitching linear actuator links to each other with an end of rear lift arm by hinge respectively, the other end of lift arm links to each other with an end of rear suspension rods by hinge after being somebody's turn to do, one position of this rear suspension rods links to each other with rear left and right sides linear actuator by hinge, the middle part of left and right sides linear actuator connects firmly the rear end at claw beam after being somebody's turn to do, the middle part of above-mentioned claw beam connects firmly in the centre bore of middle connector, should in the both sides of connector connect firmly with an end of a pair of middle left and right sides linear actuator respectively, this a pair of middle left and right sides linear actuator is hinged on an end of a pair of front and back linear actuator, the other end of this a pair of front and back linear actuator links to each other with a position of above-mentioned front overhang peg by hinge respectively, one position of above-mentioned front lift arm is connected on the large vehicle carriage two side by hinge A, one position of above-mentioned rear lift arm is connected on the large vehicle carriage two side by hinge B, one position of above-mentioned rear suspension rods links to each other with an end of a pair of lifting linear actuator by hinge, and the other end of this a pair of lifting linear actuator is connected on the large vehicle carriage two side by hinge C respectively.
Above-mentioned a pair of front overhang peg, a pair of lifting linear actuator, a pair of front and back linear actuator, a pair of pitching linear actuator, a pair of front left and right linear actuator, the equal left-right symmetry of a pair of middle left and right sides linear actuator are installed on the large vehicle carriage.
Claims (4)
1. one kind pair is hung the rod-type six-freedom-degree manipulator for forging, it is characterized in that: the cart bottom of frame is connected with large chassis by hinge, travel mechanism is installed on the large chassis, the clamp rear end is connected with the claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, should before the both sides of connector connect firmly with an end of a pair of front left and right linear actuator respectively, this a pair of front left and right linear actuator is hinged on a pair of front overhang peg, one end of this a pair of front overhang peg links to each other with an end of front lift arm by hinge, the other end of this front lift arm links to each other with an end of a pair of lifting linear actuator by hinge, the other end of this a pair of lifting linear actuator links to each other with an end of rear suspension rods by hinge, one position of this rear suspension rods and rear left and right sides linear actuator are hinged, the middle part of left and right sides linear actuator and the rear end of above-mentioned claw beam connect firmly after being somebody's turn to do, the middle part of above-mentioned claw beam connects firmly in the centre bore of middle connector, the both sides of connector and an end of a pair of middle left and right sides linear actuator connect firmly in being somebody's turn to do, one end of this a pair of middle left and right sides linear actuator and a pair of front and back linear actuator is hinged, the other end of this a pair of front and back linear actuator links to each other by the other end of hinge with the front overhang peg respectively, one position of above-mentioned front lift arm is connected through the hinge on large vehicle carriage two side, the other end of above-mentioned rear suspension rods links to each other with an end of rear lift arm by hinge, the other end of lift arm links to each other with an end of a pair of pitching linear actuator by hinge respectively after being somebody's turn to do, the other end of this a pair of pitching linear actuator is connected through the hinge respectively on large vehicle carriage two side, and a position of above-mentioned rear lift arm is connected through the hinge on large vehicle carriage two side.
2. according to claim 1 pair is hung the rod-type six-freedom-degree manipulator for forging, and it is characterized in that: described a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of front left and right linear actuator and the middle left and right sides equal left-right symmetry of linear actuator are installed on the large vehicle carriage.
3. one kind pair is hung the rod-type six-freedom-degree manipulator for forging, it is characterized in that: the cart bottom of frame is connected with large chassis by hinge, travel mechanism is installed on the large chassis, the clamp rear end is connected with the claw beam front end by hinge, this claw beam front end connects firmly in the central through hole of front connector, should before the both sides of connector connect firmly with an end of a pair of front left and right linear actuator respectively, this a pair of front left and right linear actuator is hinged on a pair of front overhang peg, the other end of this a pair of front overhang peg links to each other with an end of front lift arm by hinge respectively, the other end of this front lift arm links to each other with an end of a pair of pitching linear actuator by hinge respectively, the other end of this a pair of pitching linear actuator links to each other with an end of rear lift arm by hinge respectively, the other end of lift arm links to each other with an end of rear suspension rods by hinge after being somebody's turn to do, the other end of this rear suspension rods and rear left and right sides linear actuator are hinged, the middle part of left and right sides linear actuator and the rear end of above-mentioned claw beam connect firmly after being somebody's turn to do, the middle part of above-mentioned claw beam connects firmly in the centre bore of middle connector, should in the both sides of connector connect firmly with an end of a pair of middle left and right sides linear actuator respectively, one end of this a pair of middle left and right sides linear actuator and a pair of front and back linear actuator is hinged, the other end of this a pair of front and back linear actuator is hinged on the front overhang peg, one position of above-mentioned front lift arm and a position of above-mentioned rear lift arm are connected through the hinge respectively on large vehicle carriage two side, one position of above-mentioned rear suspension rods links to each other with an end of a pair of lifting linear actuator by hinge, and the other end of this a pair of lifting linear actuator is connected through the hinge respectively on large vehicle carriage two side.
4. according to claim 3 pair is hung the rod-type six-freedom-degree manipulator for forging, it is characterized in that described a pair of lifting linear actuator, a pair of pitching linear actuator, a pair of front and back linear actuator, a pair of front overhang peg, a pair of front left and right linear actuator and the middle left and right sides equal left-right symmetry of linear actuator are installed on the large vehicle carriage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220561408 CN202894195U (en) | 2012-10-30 | 2012-10-30 | Double suspension rods type six free degrees forging operating machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220561408 CN202894195U (en) | 2012-10-30 | 2012-10-30 | Double suspension rods type six free degrees forging operating machine |
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| Publication Number | Publication Date |
|---|---|
| CN202894195U true CN202894195U (en) | 2013-04-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220561408 Withdrawn - After Issue CN202894195U (en) | 2012-10-30 | 2012-10-30 | Double suspension rods type six free degrees forging operating machine |
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| CN (1) | CN202894195U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935483A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Double-hanging-rod type forging manipulator with six degrees of freedom |
| CN116237806A (en) * | 2023-05-12 | 2023-06-09 | 山西奔马铸锻有限公司 | Transportation device for switching forging flange stations |
-
2012
- 2012-10-30 CN CN 201220561408 patent/CN202894195U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102935483A (en) * | 2012-10-30 | 2013-02-20 | 燕山大学 | Double-hanging-rod type forging manipulator with six degrees of freedom |
| CN116237806A (en) * | 2023-05-12 | 2023-06-09 | 山西奔马铸锻有限公司 | Transportation device for switching forging flange stations |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130424 Effective date of abandoning: 20141015 |
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| RGAV | Abandon patent right to avoid regrant |