Lifting mechanism of forging manipulator

[0014] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0015] As shown in the drawings, this embodiment includes: a lifting device, a swing device, a front and rear buffer device, a left and right buffer device, a pincer rod 14 and a frame 5, wherein the swing device is installed on the upper part of the lifting device, and the pincer rod 14 is installed on the lifting device. At the bottom of the device, the front end of the front and rear buffer devices is connected to the front suspension rod 12 middle part of the lifting device, and the rear end is connected with the frame 5, and the left and right buffer devices are installed between the two front suspension rods 12.

[0016] The lifting device includes: two front suspension rods 12, two front connectors 9, two lifting linear drives 13, front lifting arms 6, front sliding rods 7, rear suspension rods 16, rear connectors 17, rear lifting Arm 1, rear slide bar 2, two pitching linear actuators 4 and clamp bar 14, wherein: the upper ends of two front suspension bars 12 are respectively connected to the lower ends of the two front connectors 9 with rotary hinges, and the lower ends are respectively connected with ball hinges At the left and right ends of the front part of the clamp bar 14, the upper ends of the two front connectors 9 are respectively connected to both sides of the front slide bar 7 with rotating hinges, and the upper ends of the two lifting linear drives 13 are respectively connected to both sides of the front lifting arm 6 with rotating hinges. , the lower ends are respectively connected to both sides of the frame 5 with rotary hinges, the front lifting arm 6 is connected to both sides of the frame 5 with two rotary hinges, the upper end of the rear suspension rod 16 is connected to the lower end of the rear connecting rod 17 with a rotary hinge, and the lower end is connected to the lower end of the rear connecting rod 17 with a rotary hinge. The ball hinge is connected to the rear part of the clamp bar 14, and the upper end of the rear connecting piece 17 is connected to the middle of the rear slide bar 2 with a rotary hinge. The rotating hinge is connected to the rear lifting arm 1 both sides.

[0017] The rotating hinge axes connecting the front suspension rod 12 and the front connector 9, the rear suspension rod 16 and the rear connector 17 are arranged in the front and rear horizontal direction, and the remaining rotation hinge axes are arranged in the left and right horizontal direction.

[0018] The two lifting linear drivers 13, the two front suspension rods 12, the two front connecting pieces 9, and the two pitching linear drivers 4 are arranged symmetrically from left to right.

[0019] The swinging device includes: two front left and right linear drivers 8, a front slide bar 7, two rear left and right linear drivers 3 and a rear slide bar 2, wherein: the two front left and right linear drivers 8 are symmetrically distributed, and their moving ends They respectively push against the two ends of the front slide bar 7, and the fixed ends are fixedly connected to both sides of the front lifting arm 6 respectively. They are fixedly connected to both sides of the rear lifting arm 1 respectively.

[0020] The front and rear buffer devices include: two front and rear buffer linear drivers 15 and a coordination rod 18, the front ends of the two front and rear buffer linear drivers 15 are respectively connected to the middle of the two front suspension rods 12 with ball hinges, and the rear ends are respectively connected to the middle of the two front suspension rods with ball hinges. The two ends of the coordinating rod 18, the coordinating rod 18 is connected on the frame 5 with a rotary hinge, wherein the axis of the rotary hinge is arranged vertically.

[0021] The left and right buffering devices include: left and right buffering linear drivers 11 and a suspension frame 10, the upper end of the suspension frame 10 is connected to the middle of the front slide bar 7 with a rotating hinge, wherein the axis of the rotating hinge is horizontally arranged left and right, and the left and right buffering linear drivers 11 fixed ends It is fixedly connected on the pincer rod 14, and its moving ends on the left and right sides stand against the both sides of the inner wall of the suspension frame 10 respectively.

[0022]Each movement of the forging operation is performed independently by each device. During the lifting movement, the two lifting linear drivers 13 push the front lifting arm 6, drive the front sliding rod 7 and the two front connecting parts 9 and then drive the two front suspension rods 12 to move up and down synchronously, and at the same time pass the two pitching arms that maintain the original length. The linear driver 4 pushes the rear lifting arm 1, drives the rear sliding rod 2 and the rear connecting rod 17 and then drives the rear suspension rod 16 to move up and down synchronously, thereby driving the clamp rod 14 to move up and down. During the pitching motion, two pitching linear actuators 4 bear on the front lifting arm 6, promote the rear lifting arm 1, drive the rear sliding bar 2 and the rear connecting rod 17 and then drive the rear suspension rod 16, thereby driving the clamp rod 14 for pitching motion. Traversing and swinging motions are completed by the front left and right linear actuators 8 and the rear left and right linear actuators 3. The front left and right linear driver 8 pushes the front sliding rod 7 to move, drives two front connecting rods 9 and two front suspension rods 12, drives the clamp rod 14 from the front of the clamp rod 14 to realize lateral movement; the rear left and right linear driver 3 pushes the rear slide rod 2. Move, drive the rear connecting rod 17 and the rear suspension rod 16, and drive the clamp rod 14 from the rear portion of the clamp rod 14 to realize lateral movement. When the driving directions of the front left and right linear actuators 8 and the left and right linear actuators 3 are the same and have the same size, the pincer bar 14 realizes lateral movement; swinging motion. During the start-up acceleration and stop-down deceleration stages of the cart and the forging process of large forgings, through the telescopic movement of the two front and rear buffer linear drives 15, the buffer movement of the clamp rod 14 to adapt to the front and rear abrupt external forces is realized. When the lateral sudden change external force acts on the pincer rod 14 so that the axial force on the left and right buffer linear actuator 11 reaches the preset value of the driver, the two moving parts on the left and right sides of the left and right buffer linear actuator 11 can arbitrarily move within the fixed end. Move, so as to realize the cushioning movement that the clamp rod 14 adapts to the lateral abrupt external force.