CN100342995C - Six-dimensional parallel forging operator - Google Patents

Abstract

A six-dimensional parallel forging manipulator is composed of six sets of linear drive systems and a connecting mechanism connecting the linear drive systems with the clamp bar platform. The six sets of linear drive systems are fixedly connected to the upper platform along the circumferential direction of the upper platform, and each uses a Guided by a set of column slide rails, each set of linear drive systems is connected to and drives a connecting piece, each connecting piece is connected with one end of a connecting rod through the main spherical hinge, and the other end of each connecting rod is connected with the main connecting rod through the main spherical hinge. The clamp rod platform is connected, and the six main ball hinges on the clamp rod platform are arranged along the circumferential direction of the clamp rod platform, and the clamps for grabbing forgings are installed on the clamp rod platform. The invention uses the motion and output force of six sets of linear drive systems as motion and force input to obtain large-tonnage operating force and six-dimensional operating motion, forming a new six-dimensional parallel type forging manipulator, and realizing large-scale forging at a lower cost Multi-directional operation.

Description

Six-dimensional parallel forging manipulator

technical field

The invention relates to a six-dimensional parallel forging manipulator, which is used for grabbing and operating forging blanks during free forging, and belongs to the field of forging and pressing processing in mechanical engineering.

Background technique

The forging manipulator is one of the basic tools for large-scale forging pressure processing, and it is used in conjunction with the press. The current forging manipulators include wire rope suspension type, multi-bar mechanism combined type, etc. The wire rope suspended forging manipulator has a small operating capacity and is used for small-scale forging, while the multi-bar mechanism combined forging manipulator has a large operating capacity and is used for large-scale forging. Generally speaking, the forging operation functions that the forging manipulator needs to realize include jaw clamping, tong bar rotation, tong bar lifting, tong bar pitching, tong bar lateral movement, tong bar swing, and cart walking. Among them, the three actions of jaw clamping, tong bar rotation, and cart walking are independent of each other in structure, and are independently driven by motors or hydraulic pressure; If the suspension type forging manipulator is realized by a set of composite connecting rod mechanism, it is a multi-bar mechanism combined forging manipulator. The composite link mechanism includes four single-degree-of-freedom swing guide rod mechanisms, each driven by a hydraulic cylinder, and the required operation movement is realized through mutual cooperation; the lateral movement and swing of the tong rod are realized by a double slider mechanism , driven by two hydraulic cylinders synchronously in the same direction or in reverse. After searching, it was found that the Chinese utility model patent with application number 88216126.1 discloses a suspended forging manipulator belonging to the technical field of general machine tools, including three parts: a pliers body, a suspension frame and a hydraulic transmission system. Among them: the suspension frame supports the caliper body and can move longitudinally to adjust the balance of the center of gravity of the caliper; the hydraulic cylinder controls the pliers arm to clamp the forging and adjust the position of the suspension frame. This forging manipulator is suitable for small forging enterprises. In the forging manipulator of this patent, during the forging process, the retraction action of the clamp required by the extension and deformation of the forging is completely realized by the walking of the cart, which has a huge moment of inertia, consumes a lot of energy, and is relatively difficult to control; The four actions of pitching, lateral movement of the clamp rod, and swing of the clamp rod are realized by different mechanisms. The structure is complicated, the number of parts is large, and the manufacturing cost is high. Moreover, the tonnage of the forging manipulator is small, and it is only suitable for small and medium-sized forging processes. Through literature search and analysis, the movements of the current forging manipulator, such as lifting and lowering of the forging manipulator, pitching of the tong bar, lateral movement of the tong bar, and swinging of the tong bar, are all realized by combining different mechanisms. The structure is complex, the number of parts is large, and the manufacturing cost is high. And they are all small forging manipulators with low operable tonnage.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention provides a six-dimensional parallel forging manipulator, which realizes the multi-directional operation of large forgings required by a set of mechanisms, simplifies the structure of the forging manipulator, reduces manufacturing costs, and improves production efficiency.

In order to achieve such a purpose, the six-dimensional parallel forging manipulator designed by the present invention is composed of six sets of linear drive systems and connecting mechanisms connecting the linear drive systems and the clamp bar platform, mainly including: six identical connectors, twelve The same main ball joint, six connecting rods of equal length, one clamp rod platform, one clamp, one upper platform, six sets of the same column slide rails, and six sets of the same linear drive system. Six sets of linear drive systems are fixedly connected to the upper platform along the circumferential direction of the upper platform, and each is guided by a set of column slide rails. Each set of linear drive systems is connected to and drives a connecting piece, and each connecting piece is connected to the One end of a connecting rod is connected, and the other end of each connecting rod is connected to the clamp rod platform through the main ball joint. The six main ball joints on the clamp rod platform are arranged along the circumferential direction of the clamp rod platform. Clamps for forgings.

The six sets of linear drive systems used in the present invention can adopt any type of linear drive system that can meet the driving requirements.

When forging forgings, six sets of linear drive systems drive six connecting parts to move according to their respective set rules, and then drive six connecting rods through six main ball hinges, and then drive the clamp rod platform through six main ball hinges on the clamp rod platform. Six-dimensional movement, so as to realize the forging operation of the clamp fixed on the clamp rod platform in any direction. Therefore, the movement and force transmission from the six sets of linear drive systems are synthesized on the clamp bar platform and the clamp to realize the multi-dimensional operation of the forging blank.

The present invention has substantive features and significant progress. Through a six-dimensional parallel forging operation mechanism configuration, the motion and output force of six sets of linear drive systems are used as the motion and force input to obtain large-tonnage operating force and six-dimensional operating motion. Low cost realizes multi-directional operations such as lifting and lowering of the clamp rod, pitching of the clamp rod, lateral movement of the clamp rod, swing of the clamp rod, retraction of the clamp during the extension and deformation of the forging during the forging process, etc. The invention has the advantages of simple structure, modular design and easy manufacture, and can adapt to the deformation of the forging blank by controlling the input motion during the forging process, avoiding the servo tracking motion of the traveling cart during the forging process, easily ensuring the forging quality of the forging, and reducing energy consumption. Consumption, improve production efficiency.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

In Figure 1, 1 is the track, 2 is the traveling cart, 3 is the forging, 4 is the clamp, 5 is the platform of the clamp bar, 6 is the main ball hinge, 7 is the connecting rod, 8 is the connecting piece, and 9 is the column slide rail , 10 is an upper platform, and 11 is a linear drive system.

Fig. 2 is the structural effect diagram of the present invention.

Detailed ways

The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.

Fig. 1 is a schematic diagram of the structure of the present invention. As shown in Figure 1, the six-dimensional parallel forging manipulator of the present invention is composed of six sets of linear drive systems and a connecting mechanism connecting the linear drive systems with the clamp bar platform, mainly including: six identical connecting parts 8, twelve The same main ball joint 6, six equal-length connecting rods 7, one clamp rod platform 5, one clamp 4, one upper platform 10, six sets of identical column slide rails 9, and six sets of identical straight lines drive system 11. Six sets of linear drive systems 11 are fixedly connected to the upper platform 10 along the circumferential direction of the upper platform 10, and are each guided by a set of column slide rails 9 fixed on the traveling cart 2. Each set of linear drive systems 11 is connected and drives a There are only connecting parts 8, each connecting part 8 is connected with one end of a connecting rod 7 through a main ball hinge 6, and the other end of each connecting rod 7 is connected with the pincer rod platform 5 through a main ball hinge 6, and the pincer rod Six main ball joints 6 on the platform 5 are arranged along the circumferential direction of the clamp bar platform 5 , and the clamp 4 for grabbing the forging 3 is installed on the clamp bar platform 5 .

During the forging operation, the six sets of linear drive systems 11 drive the six connecting parts 8 to move according to their respective set rules, and then drive the six connecting rods 7 through the six main ball joints 6, and then pass through the six main ball joints on the clamp rod platform 5 6 drives the clamp rod platform 5 to perform six-dimensional movement, thereby realizing the forging operation of the clamp 4 fixed on the clamp rod platform 5 in any direction. Therefore, the movement and force transmission from the six sets of linear drive systems 11 are synthesized on the clamp bar platform 5 to realize the multi-dimensional operation of the forging blank 3 .

Claims (1)

1. A six-dimensional parallel forging manipulator, characterized in that it includes six identical connectors (8), twelve identical main ball hinges (6), six equal-length connecting rods (7), one Only clamp rod platform (5), one clamp (4), one upper platform (10), six sets of identical column slide rails (9) and six sets of identical linear drive systems (11), six sets of linear drive The system (11) is fixedly connected to the upper platform (10) along the circumferential direction of the upper platform (10), and each uses a set of column slide rails (9) fixed on the traveling cart (2) for guidance. Each set of linear drive system (11) respectively connect and drive a connecting piece (8), each connecting piece (8) is connected with one end of a connecting rod (7) through a main spherical hinge (6), each connecting rod (7) The other end is connected with the clamp bar platform (5) through a main ball joint (6), and the six main ball joints (6) on the clamp bar platform (5) are arranged along the circumferential direction of the clamp bar platform (5), and the clamp bar platform (5) clamps (4) for grabbing forgings (3) are installed on the top.

Images