Parallel rod type forging manipulator lifting mechanism with slantly-arranged pitching linear actuator

Abstract

The invention discloses a parallel rod type forging manipulator lifting mechanism with a slantly-arranged pitching linear actuator. The lifting mechanism comprises a lifting device, a swing device, a front-back-left-right shock absorber, a claw beam and a frame, the front portion of the claw beam is connected with the lower ends of two forward mounting rods, the upper ends of the two forward mounting rods are connected onto a front sliding rod through connection pieces, a left linear actuator and a right linear actuator are arranged at two ends of a front-back sliding rod and, a front-back actuator is connected with a front-back lifting arm, and the other end of the front-back lifting arm is connected with the frame. Lower arms of two front lifting arms are connected with upper ends of two lifting linear actuators, upper arms of the front lifting arms are connected with the front ends of a horizontal synchronization rod, and the back end of the synchronization rod is connected with an upper arm of a back lifting arm. The lifting mechanism is characterized in that the back portion of the claw beam is connected with two slantly-arranged pitching linear actuators, the upper ends of the slantly-arranged pitching linear actuators are connected onto the back sliding rod through connection pieces. The parallel rod type forging manipulator lifting mechanism is high in pitching motion transmission efficiency, small in stress at frame hinging connection positions, strong in whole bearing capacity of the manipulator, simple in structure, and prone to guarantee lifting parallelism degree of the claw beam.

Description

technical field [0001] The invention relates to a forging manipulator of a free forging hydraulic unit, in particular to its lifting mechanism. Background technique [0002] As an important auxiliary equipment of free forging hydraulic unit, forging manipulator plays a vital role in improving the forging quality of forging and the production efficiency of unit equipment. Generally speaking, the forging manipulator needs to realize seven forging operation functions including jaw clamping, tong bar rotation, tong bar lifting, tong bar pitching, tong bar lateral movement, tong bar swing, and cart travel. Among them, the three actions of jaw clamping, clamp rod rotation, and cart walking are independent from each other in structure, and are respectively driven by motors or hydraulic cylinders. The clamp realizes the clamping and rotating functions of the workpiece, and the cart undertakes the traveling function. The action is realized by the lifting mechanism. At present, ther...

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Problems solved by technology

Among them, the parallel link type forging manipulator has high motion decoupling and is easy to control. If the synchronization rod of the parallel link type forging manipulator is placed at the top, it can reduce the force on the hinge joint of the frame, but most of the synchronous The rod top parallel link type forging manipulator only contains a single pitching hydraulic cylinder, such as Chinese patents 201010543863.5, 201010133714.1, etc. The manipulator clamping capacity of this structure is not very large

In Chinese patents 201010193620.3 and 201210182110.5, although there are two pitching hydraulic cylinders, the pitching hydraulic cylinders are either placed in the middle of the synchronous rod or directly connected to the frame. Lower; in the above-mentioned 201210182110.5 patent, in order to install the two pitching hydraulic cylinders, a set of pitching arm links is specially set up, which makes the whole mechanism complicated

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