CN1772411A - Double spherical hinge telescopic six-dimensional parallel forging manipulator - Google Patents

Abstract

The double-ball joint telescopic six-dimensional parallel forging operation machine consists of six identical fixed ball joints, six identical hydraulic cylinders, six identical dynamic ball joints, one claw beam platform, one clamp, one upper platform, and six sets of identical uprights. The six sets of identical uprights are configured symmetrically on the large walking chassis, and each of the upright set is connected to one hydraulic cylinder via one fixed ball joint, the hydraulic cylinder is then connected via one dynamic ball joint to the claw beam platform, these six dynamic ball joints are configured symmetrically on the large walking chassis in the mode corresponding to that of the six upright sets, and the clamp for grasping forging is mounted onto the claw beam platform. The present invention utilizes six hydraulic cylinders for great tonnage operation force and six operation motion, and realizes the multiple bearing operation of large forging at low cost.

Description

Double spherical hinge telescopic six-dimensional parallel forging manipulator

technical field

The invention relates to a double-spherical hinge telescopic six-dimensional parallel forging manipulator, which is used for grabbing and operating forging blanks during free forging, and belongs to the field of forging 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, clamp rod rotation, and cart walking are independent from each other in structure, and are independently driven by motors or hydraulic pressure. If the lifting and lowering of the tong bar and the pitching of the tong bar are realized by wire rope suspension, it is a wire rope suspension type forging manipulator; if it is realized by a set of composite linkage mechanism, it is a multi-bar mechanism combined forging manipulator. The composite link mechanism includes four single-degree-of-freedom oscillating guide rod mechanisms, each driven by a hydraulic cylinder, and through mutual cooperation to achieve the required operational movement. The lateral movement and swing of the clamp rod are also realized by a double slider mechanism, which is driven synchronously by two hydraulic cylinders in the same direction or in the opposite direction. After searching, it was found that the Chinese utility model patent with the application number 88216126.1 discloses a suspended forging manipulator belonging to the technical field of general machine tools, including three parts: a clamp 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 clamps required by the extension and deformation of the forgings 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 complex, 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 tong bar, pitching of the tong bar, lateral movement of the tong bar, and swing 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 telescopic six-dimensional parallel forging manipulator with double ball joints, 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 Productivity.

In order to achieve such a purpose, the telescopic six-dimensional parallel forging manipulator designed by the present invention mainly includes: six identical fixed spherical hinges, six sets of identical hydraulic cylinders, six identical dynamic spherical hinges, and a tong rod platform, a clamp, an upper platform, and six identical sets of uprights. Six groups of uprights are symmetrically arranged on the chassis of the walking cart, and the upper ends of the six groups of uprights are fixedly connected to the upper platform. Each group of uprights is connected to a set of hydraulic cylinders through a fixed ball joint, and the hydraulic cylinder is connected to the clamp rod platform through a moving ball joint. , six moving ball hinges are symmetrically arranged on the clamp bar platform, and the clamp for grabbing forgings is installed on the clamp bar platform.

When forging forgings, six sets of hydraulic cylinders move according to their respective set rules, and then drive the clamp rod platform to move in six dimensions through six moving ball joints, so as to realize the forging operation of the clamp fixed on the clamp rod platform in any direction. Therefore, the telescopic movement and force from the six sets of hydraulic cylinders are transmitted and synthesized on the clamp rod 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 telescopic six-dimensional parallel forging manipulator with double ball joints, the telescopic movement and output force of six sets of hydraulic cylinders are used as the movement and force input to obtain large-tonnage operating force and six-dimensional operation. Movement, to achieve 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. at a lower cost. 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 Fig. 1, 1 is the track, 2 is the traveling cart, 3 is the forging, 4 is the clamp, 5 is the clamp rod platform, 6 is the dynamic ball joint, 7 is the hydraulic cylinder, 8 is the fixed ball joint, and 9 is the column. 10 is the upper platform.

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 telescopic six-dimensional parallel forging manipulator of the present invention mainly includes: six identical fixed spherical hinges 8, six sets of identical hydraulic cylinders 7, six identical dynamic spherical hinges 6, one There are only clamp rod platform 5, one clamp 4, one upper platform 10, and six groups of identical columns 9. Six groups of columns 9 are symmetrically arranged on the chassis of the walking cart 2, and the upper ends of the six groups of columns 9 are fixedly connected to the upper platform 10. Each group of columns 9 is connected to a set of hydraulic cylinders 7 through a fixed spherical hinge 8, and the hydraulic cylinders 7 pass through a set of hydraulic cylinders. Only the movable ball hinge 6 is connected with the pincer rod platform 5, and the six movable ball hinges 6 are symmetrically arranged on the pincer rod platform 5, and its layout corresponds to the arrangement of the six groups of columns 9 on the chassis of the walking cart 2, and the pincer rod platform The clamp 4 that grasps forging 3 is installed on 5.

During the forging operation, the six sets of hydraulic cylinders 7 move according to their respective set rules, and then drive the clamp rod platform 5 to move in six dimensions through the six moving ball joints 6, so that the clamp 4 fixed on the clamp rod platform 5 can move in any direction. forging operations. Therefore, the telescopic movement and force from the six sets of hydraulic cylinders 7 are transmitted and synthesized on the clamp rod platform 5 and the clamp 4 to realize the multi-dimensional operation of the forging blank 3 .

Claims (1)

1, a kind of double-ball joint telescopic six-dimensional parallel forging operation machine, it is characterized in that comprising that six identical are decided ball pivot (8), the identical hydraulic cylinder (7) of six covers, six identical moving ball pivots (6), a claw beam platform (5), a clamp (4), a upper mounting plate (10), and six groups of identical columns (9), six groups of columns (9) are symmetric arrangement on walking cart (2) chassis, six groups of columns (9) upper end affixed upper mounting plate (10), every group of column (9) decided ball pivot (8) by one and connected a cover hydraulic cylinder (7), hydraulic cylinder (7) links to each other with claw beam platform (5) by a moving ball pivot (6) again, and six moving ball pivots (6) are gone up symmetric arrangement at claw beam platform (5), and claw beam platform (5) is gone up the clamp (4) that grasps forging (3) is installed.

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