Hanging mechanism of vertical lifting forging manipulator
By designing a vertical lifting forging operating machine hanging mechanism including linear guide rails and multiple linear drives, the problem of insufficient bearing capacity and positioning accuracy of the hanging mechanism in the prior art is solved, and the vertical lifting and buffering functions are effectively realized.
Patent Information
- Application Number
- CN202510463474.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-14
- Publication Date
- 2025-07-08
AI Technical Summary
The horizontal buffer device of the hanging mechanism of the existing large tonnage forging operating machine is hingedly installed on the front suspension rod, reducing the strength of the front suspension rod, affecting the load-bearing capacity, and the displacement of the clamp rod in the horizontal direction reduces the positioning accuracy.
A linear guide rail is used as a buffer mechanism, combined with a linear drive of lifting, pitching and transverse movement, a vertical lifting forging operating machine hanging mechanism is designed, including a rear lifting arm assembly, a synchronous rod, a frame, a front lifting arm assembly, a lifting transmission assembly, a clamp rod, a lifting linear drive and a pitch linear drive, to achieve vertical lifting and buffering functions.
The vertical lifting, pitching and buffering functions of the forging operation machine are realized, the load-bearing capacity and positioning accuracy of the hanging mechanism are improved, and the structural layout is simple.
Smart Images
Figure CN120268953A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of forging equipment, and particularly to a hanging mechanism of a vertical lifting forging manipulator. Background Art
[0002] The forging manipulator is an important auxiliary equipment of the free forging hydraulic unit, and is also one of the major mechanical equipment urgently needed for the development of the national heavy industry, nuclear power, aerospace, wind energy and other industries.
[0003] Among them, the three main movement directions that the forging manipulator needs to provide are the lifting of the tong rod, the pitching of the tong rod and the horizontal buffering of the tong rod, and these three movements are realized by the hanging mechanism of the forging manipulator.
[0004] At present, there are two types of hanging mechanisms for large-tonnage forging manipulators that are widely used: the parallel link mechanism and the swing lever mechanism. Among them, the parallel link type forging manipulator has a relatively high degree of motion decoupling and is easy to control. However, most of the existing horizontal buffering devices of the parallel link type forging manipulator hanging mechanism are hinged and installed on the front suspension rod, and the hinge point reduces the strength of the front suspension rod, thereby reducing the bearing capacity of the forging manipulator hanging mechanism; in addition, when the existing hanging mechanism performs the lifting movement of the tong rod, the end trajectory is a curve, and the tong rod will have a certain displacement in the horizontal direction, reducing the positioning accuracy of the forging manipulator. Summary of the Invention
[0005] Aiming at the above problems, the purpose of the present invention is to provide a hanging mechanism of a vertical lifting forging manipulator, which has the characteristics of simple structure and can realize vertical lifting.
[0006] The technical solution adopted by the present invention is as follows:
[0007] A hanging mechanism of a vertical lifting forging manipulator proposed by the present invention includes a rear lifting arm assembly, a synchronous rod, a frame, a front lifting arm assembly, a lifting transmission assembly, a tong rod, a lifting linear driver and a pitching linear driver; the front lifting arm assembly is arranged on the front side of the rear lifting arm assembly; the left and right sides between the tops of the front lifting arm assembly and the rear lifting arm assembly are respectively connected by a synchronous rod; the rear ends of the front lifting arm assembly and the rear lifting arm assembly are both connected to the frame; the upper end of the lifting transmission assembly is connected to the front lifting arm assembly by a spherical hinge, and the lower end is connected to the front side of the tong rod by a moving pair; the lifting linear drivers are symmetrically arranged on the left and right sides at the bottom of the front lifting arm assembly, and the upper end of the lifting linear driver is connected to the bottom of the front lifting arm assembly by a spherical hinge, and the lower end is connected to the frame by a spherical hinge; the pitching linear driver is arranged below the front side of the rear lifting arm assembly, and the upper end of the pitching linear driver is connected to the front side of the rear lifting arm assembly by a rotating hinge, and the lower end is connected to the rear end of the tong rod by a spherical hinge.
[0008] Further, the rear lifting arm assembly includes a rear lifting arm, a rear sliding rod, and a rear left-right linear actuator; the rear lifting arms are symmetrically arranged at a certain distance apart left and right; the rear ends of the rear lifting arms on both sides are respectively connected to the frame through rotating hinges with horizontal axes arranged left and right; the rear sliding rod is arranged between the front ends of the rear lifting arms on both sides, and both ends of the rear sliding rod are respectively connected to the front ends of the rear lifting arms on both sides through the rear left-right linear actuator; the moving end of the rear left-right linear actuator is connected to the end of the rear sliding rod, and the fixed end is fixedly connected to the end of the rear lifting arm; the upper end of the pitching linear actuator is connected to the middle of the rear sliding rod through a rotating hinge with a horizontal axis arranged left and right.
[0009] Further, the front lifting arm assembly includes a front lifting arm, a front lifting arm cross beam, and a front left-right linear actuator; the front lifting arms are symmetrically arranged at a certain distance apart left and right and correspond to the rear lifting arms one by one; the rear ends of the front lifting arms on both sides are respectively connected to the frame through rotating hinges with horizontal axes arranged left and right; the front lifting arm cross beam is arranged between the front ends of the front lifting arms on both sides, and both ends of the front lifting arm cross beam are respectively connected to the front ends of the front lifting arms on both sides through the front left-right linear actuator; the moving end of the front left-right linear actuator is connected to the end of the front lifting arm cross beam, and the fixed end is fixedly connected to the end of the front lifting arm; the bottoms of the front lifting arms on both sides are respectively connected to the upper ends of the corresponding side lifting linear actuators through spherical hinges; the tops of the front lifting arms are respectively connected to the tops of the corresponding side rear lifting arms through synchronizing rods; both ends of the synchronizing rod are respectively connected to the rear lifting arm and the front lifting arm through spherical hinges.
[0010] Further, the lifting transmission assembly includes a front suspension rod and a front sliding rod; the front sliding rod is connected to the front side of the pliers rod through a moving pair; both the left and right ends of the front sliding rod are respectively connected to the front lifting arm cross beam through the front suspension rod; the upper end of the front suspension rod is connected to the lifting arm cross beam through a spherical hinge, and the lower end is connected to the end of the front sliding rod through a spherical hinge.
[0011] Further, the mechanism further includes a buffer assembly; the buffer assembly is arranged at the rear of the pliers rod and is hinged to the pliers rod.
[0012] Further, the buffer assembly includes sliders, front and rear buffer linear actuators, a coordination rod, and linear guide rails; the front and rear buffer linear actuators are symmetrically arranged on the left and right sides at the rear of the pliers rod; the front ends of the front and rear buffer linear actuators are respectively connected with linear guide rails; the lower ends of the linear guide rails are connected to the front ends of the corresponding side front and rear buffer linear actuators through spherical hinges, and the upper ends are connected to the frame through spherical hinges; the sliders are respectively connected to the linear guide rails on both sides through moving pairs; the rear ends of the front and rear buffer linear actuators on both sides are connected through a coordination rod; both ends of the coordination rod are respectively connected to the rear ends of the front and rear buffer linear actuators on both sides through spherical hinges; the coordination rod is connected to the frame through a hinge; the rear side of the pliers rod is connected to the sliders on both sides through a hinge.
[0013] The present invention has the following beneficial effects compared with the prior art:
[0014] The present invention uses linear guides as the buffer mechanism of the manipulator, achieving vertical lifting during the lifting of the tong rod. Moreover, the structural layout is simple, and it can realize the main motion functions such as vertical lifting, pitching, and buffering of the forging manipulator. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 is an overall structural schematic diagram of a hanging mechanism of a vertically lifting forging manipulator proposed by the present invention.
[0016] Wherein, reference numerals: 1 - rear lifting arm; 2 - rear sliding rod; 3 - rear left and right linear drivers; 4 - synchronizing rod; 5 - frame; 6 - front lifting arm; 7 - front left and right linear drivers; 8 - front suspension rod; 9 - front sliding rod; 10 - tong rod; 11 - lifting linear driver; 12 - slider; 13 - front and rear buffer linear driver; 14 - coordinating rod; 15 - linear guide; 16 - pitching linear driver. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0017] In order 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 for 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, without creative efforts, other drawings can be obtained based on these drawings.
[0018] It should be noted that in the description of the present invention, the orientation or positional relationship indicated by terms such as "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.
[0019] Refer to the attached Figure 1 , which shows the specific structure of an embodiment of a hanging mechanism of a vertically lifting forging manipulator proposed by the present invention. The hanging mechanism includes a rear lifting arm assembly, a synchronizing rod 4, a frame 5, a front lifting arm assembly, a lifting transmission assembly, a tong rod 10, a lifting linear driver 11, and a pitching linear driver 16.
[0020] Among them, the front lifting arm assembly is correspondingly arranged on the front side of the rear lifting arm assembly; a synchronizing rod 4 is connected between the left tops of the front lifting arm assembly and the rear lifting arm assembly, and another synchronizing rod 4 is connected between the right tops of the front lifting arm assembly and the rear lifting arm assembly; the rear ends of the front lifting arm assembly and the rear lifting arm assembly are both connected to the frame 5; the upper end of the lifting transmission assembly is connected to the front lifting arm assembly through a ball joint, and the lower end is connected to the front side of the tong rod 10 through a moving pair; the lifting linear drivers 11 are symmetrically arranged on the left and right sides at the bottom of the front lifting arm assembly, and the upper ends of the lifting linear drivers 11 are connected to the bottom of the front lifting arm assembly through ball joints, and the lower ends are connected to the frame 5 through ball joints; the pitching linear driver 16 is arranged below the front side of the rear lifting arm assembly, and the upper end of the pitching linear driver 16 is connected to the front side of the rear lifting arm assembly through a rotating hinge, and the lower end is connected to the rear end of the tong rod 10 through a ball joint.
[0021] Specifically, the rear lifting arm assembly includes a pair of rear lifting arms 1, a rear sliding rod 2 and a pair of rear left and right linear drivers 3; the pair of rear lifting arms 1 are symmetrically arranged at a certain distance apart left and right; the rear ends of the two rear lifting arms 1 are respectively connected to the frame 5 through rotating hinges with the axes arranged horizontally left and right; the rear sliding rod 2 is arranged between the front ends of the two rear lifting arms 1, and the two ends of the rear sliding rod 2 are respectively connected to the front ends of the two rear lifting arms 1 through the rear left and right linear drivers 3; the moving ends of the two rear left and right linear drivers 3 are respectively connected to the two ends of the rear sliding rod 2, and the fixed ends are fixedly connected to the ends of the rear lifting arms 1; the upper end of the pitching linear driver 16 is connected to the middle of the rear sliding rod 2 through a rotating hinge with the axis arranged horizontally left and right.
[0022] Specifically, the front lifting arm assembly includes a pair of front lifting arms 6, a front lifting arm cross beam and a pair of front left and right linear drivers 7; the pair of front lifting arms 6 are symmetrically arranged at a certain distance apart left and right and correspond to the rear lifting arms 1 one by one; the rear ends of the two front lifting arms 6 are respectively connected to the frame 5 through rotating hinges with the axes arranged horizontally left and right; the front lifting arm cross beam is arranged between the front ends of the two front lifting arms 6, and the two ends of the front lifting arm cross beam are respectively connected to the front ends of the two front lifting arms 6 through the front left and right linear drivers 7; the moving ends of the two front left and right linear drivers 7 are respectively connected to the two ends of the front lifting arm cross beam, and the fixed ends are fixedly connected to the ends of the corresponding front lifting arms 6; the bottoms of the front lifting arms 6 are respectively connected to the upper ends of the corresponding lifting linear drivers 11 through ball joints; the tops of the front lifting arms 6 are respectively connected to the tops of the corresponding rear lifting arms 1 through a synchronizing rod 4; the two ends of the synchronizing rod 4 are respectively connected to the tops of the rear lifting arm 1 and the front lifting arm 6 through ball joints.
[0023] Specifically, the lifting transmission assembly includes a pair of front suspension rods 8 and a front sliding rod 9; the front sliding rod 9 is connected to the front side of the tong rod 10 through a moving pair; the left and right ends of the front sliding rod 9 are respectively connected to the front lifting arm cross beam through a front suspension rod 8; the upper end of the front suspension rod 8 is correspondingly connected to the lifting arm cross beam through a ball joint, and the lower end is correspondingly connected to the end of the front sliding rod 9 through a ball joint.
[0024] In this embodiment, the mechanism further includes a buffer assembly; the buffer assembly is correspondingly arranged at the rear of the tong rod 10 and is hinged to the tong rod 10.
[0025] Specifically, the buffer assembly includes a pair of sliders 12, a pair of front and rear buffer linear drivers 13, a coordination rod 14, and a pair of linear guide rails 15; the front and rear buffer linear drivers 13 are symmetrically arranged on the left and right sides at the rear of the tong rod 10; the front ends of the front and rear buffer linear drivers 13 are respectively connected with linear guide rails 15; the lower ends of the linear guide rails 15 are connected to the front ends of the corresponding front and rear buffer linear drivers 13 through ball joints, and the upper ends are connected to the frame 5 through ball joints; the sliders 12 are respectively connected to the linear guide rails 15 on both sides through moving pairs; the rear ends of the front and rear buffer linear drivers 13 on both sides are connected through a coordination rod 14; the two ends of the coordination rod 14 are respectively connected to the rear ends of the front and rear buffer linear drivers 13 on both sides through ball joints; the middle of the coordination rod 14 is connected to the frame 5 through a hinge; the rear side of the tong rod 10 is connected to a pair of sliders 12 through a hinge.
[0026] Among them, a pair of rear lifting arms 1, a pair of rear left and right linear drivers 3, a pair of synchronizing rods 4, a pair of front lifting arms 6, a pair of front left and right linear drivers 7, a pair of front suspension rods 8, a pair of lifting linear drivers 11, a pair of sliders 12, a pair of front and rear buffer linear drivers 13, and a pair of linear guide rails 15 are all arranged symmetrically left and right.
[0027] Each action of the forging manipulator is independently completed by each driver of the manipulator suspension mechanism.
[0028] During the lifting movement, a pair of lifting linear drivers 11 push the front lifting arm 6, driving a pair of front suspension rods 8 to move up and down synchronously; at the same time, through a pair of synchronizing rods 4, the rear lifting arm 1 is pushed, and the rear lifting arm 1 drives the rear sliding rod 2, thereby driving the pitching linear driver 16 to move up and down synchronously, and further driving the tong rod 10 to perform synchronous lifting movement.
[0029] During the pitching movement, the pitching linear driver 16 directly pushes the rear part of the tong rod 10 to make it pitch.
[0030] The transverse movement and the swinging movement are respectively completed by a pair of front left and right linear drivers 7 and a pair of rear left and right linear drivers 3. A pair of front left and right linear drivers 7 push the front part of the tong rod 10 to drive the tong rod 10 to achieve transverse movement. A pair of rear left and right linear drivers 3 push the rear slide bar 2, and the rear slide bar 2 drives the pitching linear driver 16 to drive the tong rod 10 from the rear part of the tong rod 10 to achieve transverse movement. When the driving directions of the front left and right linear drivers 7 and the rear left and right linear drivers 3 are the same and the magnitudes are the same, the tong rod 10 achieves transverse movement; when the driving directions of the front left and right linear drivers 7 and the rear left and right linear drivers 3 are opposite or the driving amounts are different, the tong rod 10 achieves swinging movement.
[0031] During the starting and accelerating stage of the carriage, the stopping and decelerating stage, and the forging process of the forging, through the passive telescopic movement of a pair of front and rear buffer linear drivers 13, the linear guide rail 15 is driven to swing, resulting in the sliding of the slider 12, so as to realize the buffering movement of the tong rod 10 to adapt to the horizontal sudden external force.
[0032] Matters not covered by this invention are all well-known technologies.
[0033] The embodiments described above are only used to describe the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations 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 hanging mechanism for a vertical lifting forging manipulator, characterized in that: The mechanism includes a rear lifting arm assembly, a synchronizing rod, a frame, a front lifting arm assembly, a lifting transmission assembly, a clamping rod, a lifting linear actuator, and a pitching linear actuator; the front lifting arm assembly is arranged on the front side of the rear lifting arm assembly; the left and right sides between the tops of the front lifting arm assembly and the rear lifting arm assembly are respectively connected by a synchronizing rod; the rear ends of the front lifting arm assembly and the rear lifting arm assembly are both connected to the frame; the upper end of the lifting transmission assembly is connected to the front lifting arm assembly by a ball joint, and the lower end is connected to the front side of the clamping rod by a moving pair; the lifting linear actuators are symmetrically arranged on the left and right sides at the bottom of the front lifting arm assembly, and the upper ends of the lifting linear actuators are connected to the bottom of the front lifting arm assembly by ball joints, and the lower ends are connected to the frame by ball joints; the pitching linear actuator is arranged below the front side of the rear lifting arm assembly, and the upper end of the pitching linear actuator is connected to the front side of the rear lifting arm assembly by a rotating hinge, and the lower end is connected to the rear end of the clamping rod by a ball joint.
2. The hanging mechanism of a vertical lifting forging manipulator according to claim 1, characterized in that: The rear lifting arm assembly includes a rear lifting arm, a rear sliding rod, and a rear left and right linear actuator; the rear lifting arms are symmetrically arranged at a certain distance left and right; the rear ends of the two rear lifting arms are respectively connected to the frame by rotating hinges with the axes arranged horizontally left and right; the rear sliding rod is arranged between the front ends of the two rear lifting arms, and the two ends of the rear sliding rod are respectively connected to the front ends of the corresponding rear lifting arms by the rear left and right linear actuators; the moving ends of the rear left and right linear actuators are connected to the ends of the rear sliding rod, and the fixed ends are fixedly connected to the ends of the rear lifting arms; the upper end of the pitching linear actuator is connected to the middle of the rear sliding rod by a rotating hinge with the axis arranged horizontally left and right.
3. The hanging mechanism of a vertical lifting forging manipulator according to claim 2, characterized in that: The front lifting arm assembly includes a front lifting arm, a front lifting arm cross beam, and a front left and right linear actuator; the front lifting arms are symmetrically arranged at a certain distance left and right and correspond to the rear lifting arms one by one; the rear ends of the two front lifting arms are respectively connected to the frame by rotating hinges with the axes arranged horizontally left and right; the front lifting arm cross beam is arranged between the front ends of the two front lifting arms, and the two ends of the front lifting arm cross beam are respectively connected to the front ends of the corresponding front lifting arms by the front left and right linear actuators; the moving ends of the front left and right linear actuators are connected to the ends of the front lifting arm cross beam, and the fixed ends are fixedly connected to the ends of the front lifting arms; the bottoms of the two front lifting arms are respectively connected to the upper ends of the corresponding lifting linear actuators by ball joints; the tops of the front lifting arms are respectively connected to the tops of the corresponding rear lifting arms by synchronizing rods; the two ends of the synchronizing rod are respectively connected to the rear lifting arm and the front lifting arm by ball joints.
4. The hanging mechanism of a vertical lifting forging manipulator according to claim 3, characterized in that: The lifting transmission assembly includes a front suspension rod and a front sliding rod; the front sliding rod is connected to the front side of the clamping rod by a moving pair; the left and right ends of the front sliding rod are respectively connected to the front lifting arm cross beam by the front suspension rods; the upper ends of the front suspension rods are connected to the lifting arm cross beam by ball joints, and the lower ends are connected to the ends of the front sliding rod by ball joints.
5. The hanging mechanism of a vertical lifting forging manipulator according to claim 1, characterized in that: The mechanism further includes a buffer assembly; the buffer assembly is arranged at the rear of the clamping rod and is hinged to the clamping rod.
6. The hanging mechanism of a vertical lifting forging manipulator according to claim 5, characterized in that: The buffer assembly includes a slider, front and rear buffer linear drivers, a coordination rod, and linear guide rails; the front and rear buffer linear drivers are symmetrically arranged on the left and right sides of the rear part of the pliers rod; the front ends of the front and rear buffer linear drivers are respectively connected with linear guide rails; the lower ends of the linear guide rails are connected to the front ends of the corresponding front and rear buffer linear drivers on one side through spherical hinges, and the upper ends are connected to the machine frame through spherical hinges; the sliders are respectively connected to the linear guide rails on both sides through movable pairs; the rear ends of the front and rear buffer linear drivers on both sides are connected through a coordination rod; both ends of the coordination rod are respectively connected to the rear ends of the front and rear buffer linear drivers on both sides through spherical hinges; the coordination rod is connected to the machine frame through a hinge; the rear side of the pliers rod is connected to the sliders on both sides through hinges.