A main motion mechanism of a heterogeneous double forging manipulator

Abstract

The present invention relates to a main motion mechanism of a heterogeneous double forging manipulator, which includes a frame I, a frame II, a front lifting arm I, a front lifting arm II, a rear lifting arm I, a rear lifting arm II, a synchronous connecting rod I, a synchronous connecting rod II, a front suspension rod I, a front suspension rod II, a tong rod I, a tong rod II, a lifting linear driver I, a lifting linear driver II, a buffer linear driver I, a buffer linear driver II, a pitching linear driver I, a pitching linear driver II, a buffer connecting rod and a buffer swing rod. The present invention uses a heterogeneous mechanism as the main motion mechanism of the double forging manipulator. When the two machines jointly clamp the forging, since the two buffer mechanisms are parallel to each other, the lifting trajectories of the tong rod I and the tong rod II are parallel. Therefore, the distance between the two clamps does not change with the lifting of the tong rods, effectively solving the problem of the forging being dragged during the lifting process by the homogeneous forging manipulator, thereby improving the forging quality of the forging and increasing the stability of the double forging manipulator system.

Description

Technical Field

[0001] The present invention relates to the technical field of forging equipment, and in particular to a main motion mechanism of a heterogeneous double forging manipulator. Background Art

[0002] A forging manipulator is an important operating equipment that coordinates with a hydraulic press in a free forging workshop. A double forging manipulator means that a forging manipulator is arranged on each side of the hydraulic press, and two clamps are used to jointly hold the forging to complete the feeding movement of the forging, which plays an important role in improving the forging quality and forging production efficiency of the forging.

[0003] Titanium alloy is a key material in the aerospace field. Its forgings have characteristics such as a narrow forging temperature range, low hot deformation resistance, and high price. There is an urgent need for a double forging manipulator to hold and forge the forgings.

[0004] Patent CN102500736A proposes a walking position control device and method for the combined forging work of a double forging manipulator, but does not involve the main motion mechanism of the forging manipulator. Currently, double forging manipulators are all composed of two main motion mechanisms with the same configuration. The lifting action of the forging is jointly completed by the clamps located on both sides of the forging. However, due to the incomplete decoupling of the main motion mechanism of the existing forging manipulator, the vertical lifting movement trajectory of its clamps is non-linear, resulting in the distance between the two clamps in the main motion mechanism of the same-type double forging manipulator changing with the lifting position of the clamp rod, and further dragging the forging held in the middle, affecting the quality of the forging product and the stability of the double forging manipulator. Summary of the Invention

[0005] Aiming at the above problems, the purpose of the present invention is to provide a main motion mechanism of a heterogeneous double forging manipulator, which can keep the distance between the two clamps constant when the clamp rod is lifted, and can effectively solve the problem of dragging the forging by the same-type double forging manipulator.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A main motion mechanism of a heterogeneous double forging manipulator proposed by the present invention includes a main motion mechanism I and a main motion mechanism II; the main motion mechanism I and the main motion mechanism II are respectively arranged on both sides of the forging;

[0008] The main motion mechanism I includes a frame I, a rear lifting arm I, a synchronous link I, a front lifting arm I, a front suspension rod I, a tong rod I, a lifting linear actuator I, a buffer linear actuator I, and a pitching linear actuator I; the upper end of the front lifting arm I is hinged to the frame I; the upper end of the front suspension rod I is hinged to the right end of the front lifting arm I, and the lower end is hinged to the right side of the tong rod I; the upper end of the rear lifting arm I is hinged to the frame I; the upper end of the pitching linear actuator I is hinged to the right end of the rear lifting arm I, and the lower end is hinged to the left end of the tong rod I; the left end of the synchronous link I is hinged to the left end of the rear lifting arm I, and the right end is hinged to the left end of the front lifting arm I; the upper end of the lifting linear actuator I is hinged to the lower end of the front lifting arm I, and the lower end is hinged to the frame I; the left end of the buffer linear actuator I is hinged to the frame I, and the right end is hinged to the middle of the front suspension rod I; the right end of the tong rod I is connected to one end of the forging.

[0009] The main motion mechanism II includes a front suspension rod II, a front lifting arm II, a synchronous link II, a buffer link, a frame II, a rear lifting arm II, a buffer swing rod, a pitching linear actuator II, a buffer linear actuator II, a lifting linear actuator II, and a tong rod II; the upper end of the front lifting arm II is hinged to the frame II; the upper end of the front suspension rod II is hinged to the left end of the front lifting arm II, and the lower end is hinged to the left side of the tong rod II; the upper end of the rear lifting arm II is hinged to the frame II; the upper end of the pitching linear actuator II is hinged to the left end of the rear lifting arm II, and the lower end is hinged to the right side of the tong rod II; the left end of the synchronous link II is hinged to the right end of the front lifting arm II, and the right end is hinged to the right end of the rear lifting arm II; the upper end of the lifting linear actuator II is hinged to the lower end of the front lifting arm II, and the lower end is hinged to the frame II; the left end of the buffer linear actuator II is hinged to the frame II, and the right end is hinged to the middle of the buffer swing rod; the upper end of the buffer swing rod is hinged to the lower end of the buffer link, and the lower end is hinged to the right end of the tong rod II; the upper end of the buffer link is hinged to the frame II; the left end of the tong rod II is connected to the other end of the forging.

[0010] Further, the connecting line between the connection point of the front lifting arm I and the front suspension rod I and the connection point of the front lifting arm I and the frame I, and the connecting line between the connection point of the rear lifting arm I and the pitching linear actuator I and the connection point of the rear lifting arm I and the frame I are both parallel to the buffer link.

[0011] Further, the connecting line between the connection point of the front lifting arm II and the front suspension rod II and the connection point of the front lifting arm II and the frame II, and the connecting line between the connection point of the rear lifting arm II and the pitching linear actuator II and the connection point of the rear lifting arm II and the frame II are parallel to each other.

[0012] Further, the synchronous link I, synchronous link II, tong bar I and tong bar II are parallel to each other; the front suspension bar I and the buffer swing bar are parallel to each other; the buffer linear actuator I and the buffer linear actuator II are parallel.

[0013] Further, the front lifting arm I, the front suspension bar I, the buffer linear actuator I and the frame I together form a buffer mechanism I; the buffer link, the buffer swing bar, the buffer linear actuator II and the frame II together form a buffer mechanism II; the buffer mechanism I, the buffer mechanism II, the tong bar I, the tong bar II and the forging together form a double-machine buffer link mechanism.

[0014] Further, the buffer mechanism I is parallel to the buffer mechanism II.

[0015] Further, all the hinges are hinge connections.

[0016] The present invention has the following beneficial effects compared with the prior art:

[0017] The present invention uses a heterogeneous mechanism as the main motion mechanism of the double forging manipulator. When the two machines jointly clamp the forging, the two horizontal buffer mechanisms and the forging together form a double-machine buffer link mechanism. Since the buffer mechanism I and the buffer mechanism II are parallel to each other, and the lifting trajectories of the tong bar I and the tong bar II are parallel, the distance between the two clamps does not change with the lifting of the tong bars, effectively solving the problems such as dragging during the lifting of the forging by the existing homogeneous forging manipulator, improving the forging quality of the forging, and increasing the stability of the double forging manipulator system. Description of the Drawings

[0018] Figure 1 is the overall structural schematic diagram of a heterogeneous double forging manipulator main motion mechanism proposed by the present invention;

[0019] Figure 2 is Figure 1 the structural schematic diagram of the double-machine buffer link mechanism in

[0020] Among them, the reference numerals: frame I - 1; rear lifting arm I - 2; synchronous link I - 3; front lifting arm I - 4; front suspension bar I - 5; front suspension bar II - 6; front lifting arm II - 7; synchronous link II - 8; buffer link - 9; frame II - 10; rear lifting arm II - 11; buffer swing bar - 12; pitching linear actuator II - 13; buffer linear actuator II - 14; lifting linear actuator II - 15; tong bar II - 16; forging - 17; tong bar I - 18; lifting linear actuator I - 19; buffer linear actuator I - 20; pitching linear actuator I - 21; buffer mechanism I - 22; buffer mechanism II - 23. Detailed Embodiments

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] It should be noted that in the description of the present invention, the orientation or positional relationship indicated by the terms "upper", "lower", "top", "bottom", "one side", "the other side", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating that the device or element must have a specific orientation, be constructed and operated in a specific orientation.

[0023] Referring to the attached Figure 1-2 , the specific structure of an embodiment of the main motion mechanism of a heterogeneous double forging manipulator proposed by the present invention is given. The mechanism includes a main motion mechanism I and a main motion mechanism II; the main motion mechanism I and the main motion mechanism II are respectively arranged at the left and right ends of the forging 17;

[0024] Among them, the main motion mechanism I includes a frame I1, a rear lifting arm I2, a synchronous link I3, a front lifting arm I4, a front suspension rod I5, a tong rod I18, a lifting linear actuator I19, a buffer linear actuator I20, and a pitching linear actuator I21; the upper end of the front lifting arm I4 is connected to the frame I1 by a hinge; the upper end of the front suspension rod I5 is connected to the right end of the front lifting arm I4 by a hinge, and the lower end of the front suspension rod I5 is connected to the right side of the tong rod I18 by a hinge; the upper end of the rear lifting arm I2 is connected to the frame I1 by a hinge; the upper end of the pitching linear actuator I21 is connected to the right end of the rear lifting arm I2 by a hinge, and the lower end of the pitching linear actuator I21 is connected to the left end of the tong rod I18 by a hinge; the left end of the synchronous link I3 is connected to the left end of the rear lifting arm I2 by a hinge, and the right end of the synchronous link I3 is connected to the left end of the front lifting arm I4 by a hinge; the upper end of the lifting linear actuator I19 is connected to the lower end of the front lifting arm I4 by a hinge, and the lower end of the lifting linear actuator I19 is connected to the frame I1 by a hinge; the left end of the buffer linear actuator I20 is connected to the frame I1 by a hinge, and the right end of the buffer linear actuator I20 is connected to the middle of the front suspension rod I5 by a hinge; the right end of the tong rod I18 is correspondingly connected to the left end of the forging 17;

[0025] The main motion mechanism II includes a front suspension rod II6, a front lifting arm II7, a synchronous connecting rod II8, a buffer connecting rod 9, a frame II10, a rear lifting arm II11, a buffer swing rod 12, a pitching linear actuator II13, a buffer linear actuator II14, a lifting linear actuator II15, and a clamp rod II16; the upper end of the front lifting arm II7 is connected to the frame II10 by a hinge; the upper end of the front suspension rod II6 is connected to the left end of the front lifting arm II7 by a hinge, and the lower end of the front suspension rod II6 is connected to the left side of the clamp rod II16 by a hinge; the upper end of the rear lifting arm II11 is connected to the frame II10 by a hinge; the upper end of the pitching linear actuator II13 is connected to the left end of the rear lifting arm II11 by a hinge, and the lower end of the pitching linear actuator II13 is connected to the right side of the clamp rod II16 by a hinge; the left end of the synchronous connecting rod II8 is connected to the right end of the front lifting arm II7 by a hinge, and the right end of the synchronous connecting rod II8 is connected to the right end of the rear lifting arm II11 by a hinge; the upper end of the lifting linear actuator II15 is connected to the lower end of the front lifting arm II7 by a hinge, and the lower end of the lifting linear actuator II15 is connected to the frame II10 by a hinge; the left end of the buffer linear actuator II14 is connected to the frame II10 by a hinge, and the right end of the buffer linear actuator II14 is connected to the middle of the buffer swing rod 12 by a hinge; the upper end of the buffer swing rod 12 is connected to the lower end of the buffer connecting rod 9 by a hinge, and the lower end of the buffer swing rod 12 is connected to the right end of the clamp rod II16 by a hinge; the upper end of the buffer connecting rod 9 is connected to the frame II10 by a hinge; the left end of the clamp rod I is correspondingly connected to the right end of the forging 17.

[0026] As Figure 2 shown, the front lifting arm I4, the front suspension rod I5, the buffer linear actuator I20 and the frame I1 together form a buffer mechanism I22; the buffer connecting rod 9, the buffer swing rod 12, the buffer linear actuator II14 and the frame II10 together form a buffer mechanism II23; a double-machine buffer connecting rod mechanism is formed among the buffer mechanism I22, the buffer mechanism II23, the clamp rod I18, the clamp rod II16 and the forging 17.

[0027] Among them, at any position, the line connecting the connection point between the front lifting arm I4 and the front suspension rod I5 and the connection point between the front lifting arm I4 and the frame I1, and the line connecting the connection point between the rear lifting arm I2 and the pitching linear actuator I21 and the connection point between the rear lifting arm I2 and the frame I1 are both parallel to the buffer connecting rod 9.

[0028] When in any position, the line connecting the connection point between the front lifting arm II7 and the front suspension rod II6 and the connection point between the front lifting arm II7 and the frame II10, and the line connecting the connection point between the rear lifting arm II11 and the pitching linear actuator II13 and the connection point between the rear lifting arm II11 and the frame II10 are parallel to each other.

[0029] When in any position, the synchronous link I3, the synchronous link II8, the tong rod I18 and the tong rod II16 are parallel to each other; the front suspension rod I5 and the buffer swing rod 12 are parallel to each other; the buffer linear actuator I20 and the buffer linear actuator II14 are parallel to each other; the buffer mechanism I22 and the buffer mechanism II23 are parallel to each other.

[0030] The lifting, pitching and horizontal buffering movements of the forging 17 are jointly completed by the linear actuators of the hanging mechanisms of the two forging manipulators on the left and right.

[0031] During the lifting movement, the lifting linear actuator I19 drives the front lifting arm I4 and the front suspension rod I5 to move. The front lifting arm I4 drives the rear lifting arm I2 and the pitching linear actuator I21 to move through the synchronous link I3, and then drives the tong rod I18 to lift and lower; the lifting linear actuator II15 drives the front lifting arm II7 and the front suspension rod II6 to move. The front lifting arm II7 drives the rear lifting arm II11 and the pitching linear actuator II13 to move through the synchronous link II8, and then drives the tong rod II16 to lift and lower; the lifting movement of the forging 17 is jointly clamped and completed by the tong rod I18 and the tong rod II16.

[0032] As Figure 2 shown, during the lifting movement, the buffer mechanism I22 and the buffer mechanism II23 are parallel to each other, resulting in parallel trajectories of the lifting and lowering movements of the tong rod I18 and the tong rod II16. The distance between the tong rods does not change with the lifting and lowering of the tong rods. Therefore, during the lifting movement, the tong rod I18 and the tong rod II16 do not exert horizontal external forces on the forging 17.

[0033] During the pitching movement, the pitching linear actuator I21 drives the rear part of the tong rod I18 to tilt; the lifting linear actuator II15 drives the tong rod II16 to lift and lower in parallel, and the pitching linear actuator II13 drives the rear part of the tong rod II16 to tilt; by jointly clamping the forging 17 with the tong rod I18 and the tong rod II16, the pitching movement of the forging 17 is realized under the tilting movement of the tong rod I18 and the lifting and tilting movements of the tong rod II16.

[0034] During the starting and accelerating, stopping and decelerating stages of the cart and during the forging process, through the passive telescopic movements of the horizontal buffer linear actuator I20 and the buffer linear actuator II14, the swinging of the front suspension rod I5 and the buffer swing rod 12 is driven to realize the buffering movement of the tong rod 7 to adapt to the horizontal sudden external force.

[0035] Matters not covered by this invention are all well-known technologies.

[0036] The embodiments described above are merely descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A main motion mechanism of a heterogeneous double forging manipulator, characterized in that: The mechanism includes a main motion mechanism I and a main motion mechanism II; the main motion mechanism I and the main motion mechanism II are respectively arranged on both sides of the forging; The main motion mechanism I comprises a frame I, a rear lifting arm I, a synchronous connecting rod I, a front lifting arm I, a front suspension rod I, a clamp rod I, a lifting linear drive I, a buffer linear drive I and a pitching linear drive I; the upper end of the front lifting arm I is hinged to the frame I; the upper end of the front suspension rod I is hinged to the right end of the front lifting arm I, and the lower end is hinged to the right side of the clamp rod I; the upper end of the rear lifting arm I is hinged to the frame I; the upper end of the pitching linear drive I is hinged to the right end of the rear lifting arm I, and the lower end is hinged to the left end of the clamp rod I; the left end of the synchronous connecting rod I is hinged to the left end of the rear lifting arm I, and the right end is hinged to the left end of the front lifting arm I; the upper end of the lifting linear drive I is hinged to the lower end of the front lifting arm I, and the lower end is hinged to the frame I; the left end of the buffer linear drive I is hinged to the frame I, and the right end is hinged to the middle part of the front suspension rod I; the right end of the clamp rod I is connected to one end of the forging; The main motion mechanism II includes a front suspension rod II, a front lifting arm II, a synchronous link II, a buffer link, a frame II, a rear lifting arm II, a buffer swing rod, a pitch linear drive II, a buffer linear drive II, a lifting linear drive II and a clamp rod II; the upper end of the front lifting arm II is hinged to the frame II; the upper end of the front suspension rod II is hinged to the left end of the front lifting arm II, and the lower end is hinged to the left side of the clamp rod II; the upper end of the rear lifting arm II is hinged to the frame II; the upper end of the pitch linear drive II is hinged to the left end of the rear lifting arm II, and the lower end is hinged to the left side of the clamp rod II. The left end of the synchronous link II is hinged to the right end of the front lifting arm II, and the right end is hinged to the right end of the rear lifting arm II; the upper end of the lifting linear drive II is hinged to the lower end of the front lifting arm II, and the lower end is hinged to the frame II; the left end of the buffer linear drive II is hinged to the frame II, and the right end is hinged to the middle part of the buffer swing rod; the upper end of the buffer swing rod is hinged to the lower end of the buffer connecting rod, and the lower end is hinged to the right end of the clamp rod II; the upper end of the buffer connecting rod is hinged to the frame II; the left end of the clamp rod II is connected to the other end of the forging; The front lifting arm I, the front suspension rod I, the buffer linear drive I and the frame I together constitute a buffer mechanism I; the buffer connecting rod, the buffer swing rod, the buffer linear drive II and the frame II together constitute a buffer mechanism II; the buffer mechanism I, the buffer mechanism II, the clamp rod I, the clamp rod II and the forging together constitute a double-machine buffer connecting rod mechanism; The buffer mechanism I is parallel to the buffer mechanism II.

2. The main motion mechanism of a heterogeneous double forging manipulator according to claim 1 is characterized in that: The connecting line between the connection point between the front lifting arm 1 and the front suspension rod 1 and the connecting line between the front lifting arm 1 and the frame 1, and the connecting line between the connection point between the rear lifting arm 1 and the pitch linear actuator 1 and the connecting line between the rear lifting arm 1 and the frame 1 are all parallel to the buffer link.

3. The main motion mechanism of a heterogeneous double forging manipulator according to claim 1 is characterized in that: The connecting line between the connection point between the front lifting arm II and the front suspension rod II and the connecting line between the front lifting arm II and the frame II, and the connecting line between the connection point between the rear lifting arm II and the pitch linear drive II and the connecting line between the rear lifting arm II and the frame II are parallel to each other.

4. The main motion mechanism of a heterogeneous double forging manipulator according to claim 1 is characterized in that: The synchronous link I, the synchronous link II, the clamp rod I and the clamp rod II are parallel to each other; the front suspension rod I and the buffer swing rod are parallel to each other; the buffer linear drive I and the buffer linear drive II are parallel.

5. The main motion mechanism of the heterogeneous double forging manipulator according to claim 1 is characterized in that: The articulations are all hinge connections.

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