Forging manipulator suspension mechanism

Abstract

The present application relates to a kind of forging manipulator hanging mechanism, including front lifting arm, front suspension bar, rear lifting arm, rack, synchronous connecting rod, buffer connecting rod, buffer swing bar, tong bar, lifting linear driver, pitch linear driver and buffer linear driver;Buffer mechanism is made of four-bar mechanism consisting of buffer linear driver, buffer connecting rod and buffer swing bar.The present application uses independent four-bar mechanism as forging manipulator buffer mechanism, realizes the separation of forging manipulator lifting mechanism and buffer mechanism, eliminates the buffer torque and vibration impact received by traditional lifting mechanism;In the process of car starting acceleration, deceleration stage and forging processing, by the passive extension and contraction movement of buffer linear driver in four-bar mechanism, the buffer movement of tong bar to adapt to horizontal mutation external force is realized, so as to improve the structural stability and carrying capacity of forging manipulator.

Description

Technical Field

[0001] This invention relates to the field of forging equipment technology, and in particular to a forging manipulator suspension mechanism. Background Technology

[0002] Forging manipulators are important operating equipment that coordinates with hydraulic presses in free forging workshops, and are also one of the major mechanical equipment urgently needed for the development of national heavy industry, nuclear power, aerospace and wind energy.

[0003] Among these, the lifting, tilting, and horizontal buffering of the clamp bar are the three main directions of motion that a forging manipulator needs to provide. These three movements are achieved by the suspension mechanism of the forging manipulator. Currently, the most widely used suspension mechanisms for large-tonnage forging manipulators include two types: parallel linkage mechanisms and swing lever mechanisms. Among them, the parallel linkage forging manipulator has a higher degree of motion decoupling and is easier to control.

[0004] However, most existing parallel linkage forging manipulator suspension mechanisms have their horizontal buffer devices hinged to the front suspension rod. The hinge point reduces the strength of the front suspension rod, thereby reducing the load-bearing capacity of the forging manipulator suspension mechanism. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide a forging manipulator suspension mechanism that can separate the lifting mechanism and the buffer mechanism of the forging manipulator, thereby eliminating the buffer torque and vibration impact experienced by the traditional lifting mechanism.

[0006] The technical solution adopted in this invention is as follows:

[0007] The forging manipulator suspension mechanism proposed in this invention includes a rear lifting arm, a frame, a buffer link, a synchronous link, a front lifting arm, a front suspension rod, a clamp rod, a lifting linear drive, a buffer linear drive, a pitch linear drive, and a buffer swing rod. The upper end of the front lifting arm is hinged to the frame, and the right end is hinged to the upper end of the front suspension rod. The lower end of the front suspension rod is hinged to the right end of the clamp rod. The lower end of the front lifting arm is hinged to the upper end of the lifting linear drive. The lower end of the lifting linear drive is hinged to the frame. The upper end of the rear lifting arm is hinged to the frame, and the right end is hinged to the upper end of the pitch linear drive. The lower end of the pitch linear drive is hinged to the left side of the clamp rod. The left end of the rear lifting arm is hinged to the left end of the front lifting arm. The upper end of the buffer link is hinged to the frame, and the lower end is hinged to the upper end of the buffer swing rod. The lower end of the buffer swing rod intersects with the left end of the clamp rod. The left end of the buffer linear drive is hinged to the middle of the buffer swing rod, and the right end is hinged to the frame.

[0008] Furthermore, all of the hinges are hinge connections.

[0009] Furthermore, the lifting linear actuator, front lifting arm, front suspension rod, rear lifting arm, pitch linear actuator, clamp bar, and frame together constitute the clamp bar lifting mechanism.

[0010] Furthermore, the aforementioned buffer linear actuator, buffer link, buffer swing arm, and frame together constitute a four-bar linkage.

[0011] Furthermore, the four-bar linkage and the clamp lifting mechanism are independent of each other.

[0012] Compared with the prior art, the present invention has the following advantages:

[0013] This invention uses an independent four-bar linkage as the buffer mechanism of the forging manipulator, which realizes the separation of the lifting mechanism and the buffer mechanism of the forging manipulator, eliminates the buffer torque and vibration impact of the traditional lifting mechanism, thereby improving the structural stability and load-bearing capacity of the forging manipulator. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of a forging manipulator hanging mechanism proposed in this invention.

[0015] In the attached drawings, the following reference numerals are used: 1-rear lifting arm; 2-frame; 3-buffer link; 4-synchronous link; 5-front lifting arm; 6-front suspension rod; 7-clamping rod; 8-lifting linear drive; 9-buffered linear drive; 10-pitch linear drive; 11-buffered swing arm. Detailed Implementation

[0016] 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.

[0017] 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.

[0018] See appendix Figure 1This paper presents a specific structure of an embodiment of the suspension mechanism for a forging manipulator proposed in this invention. The suspension mechanism includes a rear lifting arm 1, a frame 2, a buffer link 3, a synchronous link 4, a front lifting arm 5, a front suspension rod 6, a clamping rod 7, a lifting linear actuator 8, a buffer linear actuator 9, a pitch linear actuator 10, and a buffer swing arm 11.

[0019] The upper end of the front lifting arm 5 is connected to the frame 2 via a hinge, and the right end is connected to the upper end of the front suspension rod 6 via a hinge; the lower end of the front suspension rod 6 is connected to the right end of the clamp rod 7 via a hinge; the lower end of the front lifting arm 5 is connected to the upper end of the lifting linear actuator 8 via a hinge; the lower end of the lifting linear actuator 8 is connected to the frame 2 via a hinge; the upper end of the rear lifting arm 1 is connected to the frame 2 via a hinge, and the right end is connected to the upper end of the pitch linear actuator 10 via a hinge. The lower end of the pitch linear actuator 10 is connected to the left end of the clamping rod 7 via a hinge; the left end of the rear lifting arm 1 is connected to the left end of the front lifting arm 5 via a hinge; the upper end of the buffer connecting rod 3 is connected to the frame 2 via a hinge, and the lower end is connected to the upper end of the buffer swing rod 11 via a hinge; the lower end of the buffer swing rod 11 is connected to the left end of the clamping rod 7 via a hinge; the left end of the buffer linear actuator 9 is connected to the buffer swing rod 11 via a hinge, and the right end is connected to the frame 2 via a hinge.

[0020] The lifting linear actuator 8, the front lifting arm 5, the front suspension rod 6, the rear lifting arm 1, the pitch linear actuator 10, the clamping bar 7, and the frame 2 together constitute the clamping bar lifting mechanism.

[0021] At any position, the buffer linear actuator 9, buffer link 3, buffer swing arm 11, and frame 2 together form a four-bar linkage.

[0022] The lifting, pitching, and horizontal buffering movements of the forging manipulator lever 7 are independently completed by each drive of the manipulator's suspension mechanism.

[0023] During the lifting motion, the lifting linear actuator 8 drives the front lifting arm 5 and the front suspension rod 6 to move. The front lifting arm 5 drives the rear lifting arm 1 and the pitch linear actuator 10 to move through the synchronous linkage 4, thereby driving the clamp rod 7 to lift and lower.

[0024] During pitch motion, the pitch linear actuator 10 drives the rear part of the clamp 7 to move, thereby realizing the pitch motion of the clamp 7.

[0025] 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 9 drives the swing of the buffer lever 11, thereby enabling the clamp lever 7 to adapt to sudden horizontal external forces through buffering motion.

[0026] All matters not covered in this invention are common knowledge.

[0027] 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 forging manipulator suspension mechanism, characterized in that: The mechanism includes a rear lifting arm, a frame, a buffer link, a synchronous link, a front lifting arm, a front suspension rod, a clamp rod, a lifting linear drive, a buffer linear drive, a pitch linear drive, and a buffer swing rod. The upper end of the front lifting arm is hinged to the frame, and its right end is hinged to the upper end of the front suspension rod. The lower end of the front suspension rod is hinged to the right end of the clamp rod. The lower end of the front lifting arm is hinged to the upper end of the lifting linear drive. The lower end of the lifting linear drive is hinged to the frame. The upper end of the rear lifting arm is hinged to the frame, and its right end is hinged to the upper end of the pitch linear drive. The lower end of the pitch linear drive is hinged to the left side of the clamp rod. The left end of the rear lifting arm is hinged to the left end of the front lifting arm. The upper end of the buffer link is hinged to the frame, and its lower end is hinged to the upper end of the buffer swing rod. The lower end of the buffer swing rod intersects with the left end of the clamp rod. The left end of the buffer linear drive is hinged to the middle of the buffer swing rod, and its right end is hinged to the frame. The lifting linear actuator, front lifting arm, front suspension rod, rear lifting arm, pitch linear actuator, clamp bar, and frame together constitute the clamp bar lifting mechanism. The buffer linear actuator, buffer link, buffer swing arm and frame together constitute a four-bar linkage; The four-bar linkage and the clamp lifting mechanism are independent of each other.

2. The forging manipulator suspension mechanism according to claim 1, characterized in that: All the hinges are hinge connections.

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