A main motion mechanism for a vertical lifting forging manipulator

Abstract

This invention relates to a main motion mechanism for a vertical lifting forging manipulator, comprising a front lifting rod, a front synchronizing rod, a rear lifting rod, a rear synchronizing rod, a frame, connecting rods, a positioning connecting rod, a clamping rod, a lifting linear actuator, a pitching linear actuator, and a buffer linear actuator. This invention uses a six-bar linkage as the linear lifting mechanism of the manipulator, achieving vertical lifting during clamping rod lifting. The inclusion of a horizontal buffer linear actuator within the six-bar linkage overcomes the lack of buffering functionality in traditional six-bar linkages, and also results in a simple structural layout, enabling the forging manipulator to perform vertical lifting, pitching, and buffering main motion functions.

Description

Technical Field

[0001] This invention relates to the field of forging equipment technology, and in particular to a main motion mechanism for a vertical lifting forging manipulator. Background Technology

[0002] Forging manipulators are important auxiliary equipment in free forging hydraulic presses and are among the key mechanical equipment urgently needed for the development of national heavy industry, nuclear power, aerospace, and wind energy. The three main directions of motion that the forging manipulator needs to provide are lever lifting, lever pitching, and lever horizontal movement, which are achieved by the main motion mechanism of the forging manipulator.

[0003] Currently, the most widely used main motion mechanisms for large-tonnage forging manipulators are parallel linkage mechanisms and swing lever mechanisms. Both employ a four-bar linkage for lever lifting control. Because the end trajectory of the four-bar linkage is approximately linear, the lever will experience horizontal displacement during the lever lifting motion, thus reducing the manipulator's control accuracy. Chinese patent number 201410079956.5 discloses a fully decoupled lifting mechanism for a forging manipulator, which enables linear lifting of the lever. However, this mechanism has a complex structure, a large number of linkages, and low overall structural rigidity, making it difficult to support large forgings. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a main motion mechanism for a vertical lifting forging manipulator, which has a simple structure and can achieve vertical lifting.

[0005] The technical solution adopted in this invention is as follows:

[0006] The present invention discloses a main motion mechanism for a vertical lifting forging manipulator, comprising a front lifting rod, a front synchronizing rod, a rear lifting rod, a rear synchronizing rod, a frame, connecting rods, a positioning connecting rod, a clamping rod, a lifting linear actuator, a pitching linear actuator, and a buffer linear actuator. The front end of the clamping rod is connected to the lower end of the front synchronizing rod via a hinge. The upper end of the front synchronizing rod is connected to the lower end of the front lifting rod via a hinge. The upper end of the front lifting rod is connected to the front end of the frame via a hinge. The lower end of the lifting linear actuator is connected to the front end of the clamping rod via a hinge, and the upper end is connected to the front end of the frame via a hinge. The rear end of the clamping rod is connected to the rear synchronizing rod via a hinge. The lower end of the step rod is connected; the upper end of the rear synchronous rod is connected to the lower end of the rear lifting rod via a hinge; the upper end of the rear lifting rod is connected to the rear end of the frame via a hinge; the lower end of the positioning link is connected to the rear end of the clamp rod via a hinge, and the upper end is connected to the lower end of the connecting rod via a hinge; the upper end of the connecting rod is connected to the front middle part of the frame via a hinge; the front end of the pitch linear actuator is connected to the connection point of the front lifting rod and the front synchronous rod via a hinge, and the rear end is connected to the connection point of the rear lifting rod and the rear synchronous rod via a hinge; the front end of the buffer linear actuator is connected to the middle part of the connecting rod via a hinge, and the rear end is connected to the middle part of the rear lifting rod via a hinge.

[0007] Furthermore, the front lifting rod, front synchronizing rod, rear lifting rod, and rear synchronizing rod are all the same length.

[0008] Furthermore, the length of the rod between the connection point of the buffer linear actuator and the connecting rod and the connection point of the connecting rod and the positioning connecting rod is the same as the length of the positioning connecting rod.

[0009] Furthermore, the length of the rod between the connection point of the buffer linear actuator and the rear lifting rod and the connection point of the rear lifting rod and the frame is the same as the length of the buffer linear actuator.

[0010] Furthermore, the length of the rod between the connection point of the buffer linear actuator and the connecting rod and the connection point of the connecting rod and the frame is the same as the length between the connection point of the rear lifting rod and the connection point of the connecting rod and the frame.

[0011] Furthermore, when the clamp rod is at its lowest point, the line connecting the connection point between the buffer linear actuator and the connecting rod and the connection point between the connecting rod and the positioning connecting rod is perpendicular to the buffer linear actuator.

[0012] Furthermore, when the pitch linear actuator is in its initial state, the ratio of the distance between the connection point of the front lift rod and the front end of the frame and the connection point of the rear lift rod and the rear end of the frame, the length of the rod between the connection point of the clamp rod and the front synchronizing rod and the connection point of the clamp rod and the rear synchronizing rod, and the length of the rod of the pitch linear actuator is 1:1:1.

[0013] Furthermore, the buffer linear actuator, connecting rod, positioning connecting rod, rear lifting rod, rear synchronizing rod, and the mechanism form a six-bar linkage, enabling the clamp lever to move in a straight line; the front lifting rod, rear lifting rod, pitch linear actuator, and the mechanism form a four-bar linkage; the front synchronizing rod, rear synchronizing rod, pitch linear actuator, and clamp lever together form a four-bar linkage.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] This invention uses a six-bar linkage as the linear lifting device for the manipulator, achieving vertical lifting during the lifting and lowering of the clamp bar. A horizontal buffer linear actuator is set in the six-bar linkage, which solves the problem of the lack of buffer function in the linear six-bar linkage. Moreover, the structure is simple and can realize the main motion functions of the forging manipulator, such as vertical lifting, pitching, and buffering. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the main motion mechanism of a vertical lifting forging manipulator proposed in this invention;

[0017] Figure 2 This is a schematic diagram of the overall structure of the present invention when the clamp rod is at its lowest point.

[0018] In the attached drawings, the following reference numerals are used: 1-rear lifting rod; 2-frame; 3-connecting rod; 4-front lifting rod; 5-lifting linear drive; 6-front synchronizing rod; 7-pitch linear drive; 8-clamping rod; 9-positioning connecting rod; 10-rear synchronizing rod; 11-buffered linear drive. Detailed Implementation

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] It should be noted that in the description of this invention, the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not mean that the device or element must have a specific orientation, or be constructed and operated in a specific orientation.

[0021] See appendix Figure 1This paper presents a specific structure of an embodiment of the main motion mechanism of a vertical lifting forging manipulator proposed in this invention. The main motion mechanism includes a rear lifting rod 1, a frame 2, a connecting rod 3, a front lifting rod 4, a lifting linear actuator 5, a front synchronizing rod 6, a pitching linear actuator 7, a clamping rod 8, a positioning connecting rod 9, a rear synchronizing rod 10, and a buffer linear actuator 11.

[0022] The front end of the clamping rod 8 is connected to the lower end of the front synchronous rod 6 via a hinge; the upper end of the front synchronous rod 6 is connected to the lower end of the front lifting rod 4 via a hinge; the upper end of the front lifting rod 4 is connected to the front end of the frame 2 via a hinge; the lower end of the lifting linear actuator 5 is connected to the front end of the clamping rod 8 via a hinge; the upper end of the lifting linear actuator 5 is connected to the front end of the frame 2 via a hinge; the rear end of the clamping rod 8 is connected to the lower end of the rear synchronous rod 10 via a hinge; the upper end of the rear synchronous rod 10 is connected to the lower end of the rear lifting rod 1 via a hinge; the upper end of the rear lifting rod 1 is connected to the rear end of the frame 2 via a hinge. The lower end of the positioning link 9 is connected to the rear end of the clamping rod 8 via a hinge; the upper end of the positioning link 9 is connected to the lower end of the link 3 via a hinge; the upper end of the link 3 is connected to the front middle part of the frame 2 via a hinge; the front end of the pitch linear actuator 7 is connected to the connection point of the front lifting rod 4 and the front synchronizing rod 6 via a hinge; the rear end of the pitch linear actuator 7 is connected to the connection point of the rear lifting rod 1 and the rear synchronizing rod 10 via a hinge; the front end of the buffer linear actuator 11 is connected to the middle part of the link 3 via a hinge; the rear end of the buffer linear actuator 11 is connected to the middle part of the rear lifting rod 1 via a hinge.

[0023] The buffer linear actuator 11, connecting rod 3, positioning connecting rod 9, rear lifting rod 1, rear synchronizing rod 10 and frame 2 constitute a six-bar linkage, which enables the clamp rod 8 to move in a straight line; the front lifting rod 4, rear lifting rod 1, pitch linear actuator 7 and frame 2 constitute a four-bar linkage; the front synchronizing rod 6, rear synchronizing rod 10, pitch linear actuator 7 and clamp rod 8 constitute a four-bar linkage.

[0024] At any position, the lengths of the front lifting rod 4, the front synchronizing rod 6, the rear lifting rod 1, and the rear synchronizing rod 10 are all the same; the length of the rod between the connection point of the buffer linear driver 11 and the connecting rod 3 and the connection point of the connecting rod 3 and the positioning connecting rod 9 is the same as the length of the positioning connecting rod 9.

[0025] At any position, the length of the rod between the connection point of the buffer linear actuator 11 and the rear lifting rod 1 and the connection point of the rear lifting rod 1 and the frame 2 is the same as the length of the buffer linear actuator.

[0026] At any position, the length of the rod between the connection point of the buffer linear actuator 11 and the connecting rod 3 and the connection point of the connecting rod 3 and the frame 2, the length between the connection point of the rear lifting rod 1 and the frame 2, and the length between the connection point of the connecting rod 3 and the frame 2 are the same.

[0027] When the clamp 8 is at its lowest point and the buffer linear actuator 11 is in its initial state, the line connecting the connection point of the buffer linear actuator 11 and the connecting point of the connecting rod 3 and the positioning connecting rod 9 is perpendicular to the buffer linear actuator 11.

[0028] When the pitch linear actuator 7 is in its initial state, the ratio of the distance between the connection point of the front lifting rod 4 and the front end of the frame 2 and the connection point of the rear lifting rod 1 and the rear end of the frame 2, the length of the rod between the connection point of the clamp rod 8 and the front synchronous rod 6 and the connection point of the clamp rod 8 and the rear synchronous rod 10, and the length of the rod of the pitch linear actuator 7 is 1:1:1.

[0029] The lifting, pitching, and horizontal buffering movements of the forging manipulator lever 8 are independently completed by each drive of the main motion mechanism of the manipulator.

[0030] During the lifting motion, the lifting linear actuator 5 drives the front lifting rod 4 and the front synchronous rod 6 to move. The front lifting rod 4 and the front synchronous rod 6 drive the rear lifting rod 1 and the rear synchronous rod 10 to move through the four-bar linkage, thereby driving the clamp rod 8 to lift and lower.

[0031] During pitch motion, the pitch linear actuator 7 drives the rear lifting rod 1 and the rear synchronous rod 10 to move, which in turn drives the rear part of the clamp rod 8 to achieve pitch motion.

[0032] During the acceleration and deceleration phases of the vehicle's start-up, as well as the forging process, the passive extension and retraction motion of the horizontal buffer linear actuator 11 enables the clamping rod 8 to adapt to sudden horizontal external forces through buffering motion.

[0033] All matters not covered in this invention are common knowledge.

[0034] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A main motion mechanism for a vertical lifting forging manipulator, characterized in that: It includes a front lifting rod, a front synchronizing rod, a rear lifting rod, a rear synchronizing rod, a frame, connecting rods, a positioning connecting rod, a clamping rod, a lifting linear actuator, a pitch linear actuator, and a buffer linear actuator; the front end of the clamping rod is connected to the lower end of the front synchronizing rod via a hinge; the upper end of the front synchronizing rod is connected to the lower end of the front lifting rod via a hinge; the upper end of the front lifting rod is connected to the front end of the frame via a hinge; the lower end of the lifting linear actuator is connected to the front end of the clamping rod via a hinge, and the upper end is connected to the front end of the frame via a hinge; the rear end of the clamping rod is connected to the lower end of the rear synchronizing rod via a hinge; the rear synchronizing rod... The upper end of the rod is connected to the lower end of the rear lifting rod via a hinge; the upper end of the rear lifting rod is connected to the rear end of the frame via a hinge; the lower end of the positioning link is connected to the rear end of the clamping rod via a hinge, and the upper end is connected to the lower end of the connecting rod via a hinge; the upper end of the connecting rod is connected to the front middle part of the frame via a hinge; the front end of the pitch linear actuator is connected to the connection point of the front lifting rod and the front synchronizing rod via a hinge, and the rear end is connected to the connection point of the rear lifting rod and the rear synchronizing rod via a hinge; the front end of the buffer linear actuator is connected to the middle part of the connecting rod via a hinge, and the rear end is connected to the middle part of the rear lifting rod via a hinge. The buffer linear actuator, connecting rod, positioning connecting rod, rear lifting rod, rear synchronizing rod, and the mechanism form a six-bar linkage, enabling the clamp lever to move in a straight line; the front lifting rod, rear lifting rod, pitch linear actuator, and the mechanism form a four-bar linkage; the front synchronizing rod, rear synchronizing rod, pitch linear actuator, and the clamp lever form a four-bar linkage.

2. The main motion mechanism of a vertical lifting forging manipulator according to claim 1, characterized in that: The front lift rod, front synchronizer rod, rear lift rod, and rear synchronizer rod are all the same length.

3. The main motion mechanism of a vertical lifting forging manipulator according to claim 2, characterized in that: The length of the rod between the connection point of the buffer linear actuator and the connecting rod and the connection point of the connecting rod and the positioning connecting rod is the same as the length of the positioning connecting rod.

4. The main motion mechanism of a vertical lifting forging manipulator according to claim 3, characterized in that: The length of the rod between the connection point of the buffer linear actuator and the rear lifting rod and the connection point of the rear lifting rod and the frame is the same as the length of the buffer linear actuator.

5. The main motion mechanism of a vertical lifting forging manipulator according to claim 4, characterized in that: The length of the rod between the connection point of the buffer linear actuator and the connecting rod and the connection point of the connecting rod and the frame is the same as the length between the connection point of the rear lifting rod and the frame and the connection point of the connecting rod and the frame.

6. The main motion mechanism of a vertical lifting forging manipulator according to claim 5, characterized in that: When the clamp is at its lowest point, the line connecting the connection point between the buffer linear actuator and the connecting rod and the connection point between the connecting rod and the positioning connecting rod is perpendicular to the buffer linear actuator.

7. The main motion mechanism of a vertical lifting forging manipulator according to claim 6, characterized in that: When the pitch linear actuator is in its initial state, the ratio of the distance between the connection point of the front lift rod and the front end of the frame and the connection point of the rear lift rod and the rear end of the frame, the length of the clamp rod between the connection point of the clamp rod and the front synchronizing rod and the connection point of the clamp rod and the rear synchronizing rod, and the length of the pitch linear actuator is 1:1:1.

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