CN100342995C - Six-dimensional parallel forging operator - Google Patents
Six-dimensional parallel forging operator Download PDFInfo
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- CN100342995C CN100342995C CNB2005100304614A CN200510030461A CN100342995C CN 100342995 C CN100342995 C CN 100342995C CN B2005100304614 A CNB2005100304614 A CN B2005100304614A CN 200510030461 A CN200510030461 A CN 200510030461A CN 100342995 C CN100342995 C CN 100342995C
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- claw beam
- forging
- beam platform
- platform
- linear driving
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Abstract
The present invention relates to a six-dimensional parallel type forging manipulator which is composed of six sets of linear driving systems and a connecting gear used for connecting with the linear driving systems and a claw beam platform, wherein the six sets of linear driving systems are fixedly connected to an upper platform along the circumferential direction of the upper platform and respectively use a group of column sliding rail to carry out guiding. Each set of linear driving system respectively connects and drives a connecting piece, each connecting piece is connected with one end of a connecting rod by a main ball pivot, and the other end of each connecting rod is connected with the claw beam platform by the main ball pivot. The six main ball pivots on the claw beam platform are arranged along the circumferential direction of the claw beam platform, and the claw beam platform is provided with a clamp used for catching forging pieces. The present invention uses the motion and the output force of the six sets of linear driving systems as the motion and the force input to obtain the large-tonnage operating force and the six-dimensional operation motion, and a novel six-dimensional parallel type forging manipulator is formed; thus, the omnidirectional operation of large forging pieces is realized with low cost.
Description
Technical field
The present invention relates to a kind of six-dimensional parallel forging operator, to the grasping manipulation of forging blank, belong to and forge and press manufacture field in the mechanical engineering when being used for flat-die forging.
Background technology
Forging manipulator is one of basic tool of large-sized forging pressure processing, is used with forcing press.Present forging manipulator has steel wire rope suspension type, multi-bar linkage combined type etc.Steel wire rope suspension type forging manipulator operational capacity is less, is used for small-sized forging, and multi-bar linkage combined type forging manipulator operational capacity is big, is used for large-sized forging.In general, the forging manipulator forging operation function that need realize comprises seven motions such as jaw clamping, claw beam rotation, claw beam lifting, claw beam pitching, claw beam are traversing, claw beam swing, large vehicle walking.Wherein, jaw clamps, claw beam rotation, three actions of large vehicle walking are separate on the structure, respectively by motor or hydraulic pressure drive; Claw beam lifting, two actions of claw beam pitching are steel wire rope suspension type forging manipulator if realized by the steel wire rope hang, if realized by a cover composite rod mechanism, then are multi-bar linkage combined type forging manipulator.This composite rod mechanism comprises the oscillating guidebar mechanism of four single-degree-of-freedoms, and each realizes desired operational movement by a Driven by Hydraulic Cylinder by cooperatively interacting; Claw beam is traversing, claw beam swing is realized by double-slider mechanism in addition, by two hydraulic cylinder synchronous in the same way or reverse drive.Find that by retrieval application number is that 88216126.1 Chinese utility model patent discloses a kind of suspension type forging manipulator that belongs to the universal machine tools technical field, comprises caliper, hanger bracket and Hydraulic Power Transmission System three parts.Wherein: the hanger bracket holder is held caliper and can be vertically moved and adjusts the caliper gravity balance; Hydraulic jack control tong arm clamping forging is also adjusted the hanger bracket position.This forging manipulator is fit to small-sized forging enterprise to be used.The forging manipulator of this patent is made a concession action because of the needed clamp of forging extension distortion and is relied on large vehicle walking to realize that movement inertia is huge fully in forging process, consumes energy is many, and control is comparatively difficult; Its claw beam lifting, claw beam pitching, claw beam are traversing, four actions of claw beam swing are then realized by different institutions, complex structure, amount of parts is many, manufacturing cost is higher, and this forging manipulator can to operate tonnage little, only be applicable to middle-size and small-size forging processing.By the literature search analysis, motion such as its claw beam lifting of present forging manipulator, claw beam pitching, claw beam are traversing, claw beam swing is by the different institutions realization that combines, complex structure, amount of parts is many, manufacturing cost is higher, and is small-sized forging manipulator, and it is low to operate tonnage.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of six-dimensional parallel forging operator is provided, realize the multi-faceted operation of needed large forgings, simplify the forging manipulator structure, reduce manufacturing cost, enhance productivity by a cover mechanism.
For realizing such purpose, the six-dimensional parallel forging operator of the present invention design is made up of six cover linear drive systems and the bindiny mechanisms that connect linear drive system and claw beam platform, mainly comprises: six identical connectors, 12 identical cue balls cut with scissors, six isometric connecting rods, claw beam platform, clamp, upper mounting plate, six groups of identical column slide rails and six overlap identical linear drive system.Six cover linear drive systems are along the fixedly connected upper mounting plate of the circumferencial direction of upper mounting plate, and utilize one group of column slide rail to lead separately, every cover linear drive system connects separately and drives a connector, every connector links to each other with an end of a connecting rod by the cue ball hinge, the other end of every connecting rod is connected with the claw beam platform by the cue ball hinge, six cue balls hinge is installed the clamp that grasps forging along the circumferential directions of claw beam platform on the claw beam platform on the claw beam platform.
The six cover linear drive systems that adopt among the present invention can adopt any type to satisfy and drive the linear drive system that requires.
During forging, six cover linear drive systems drive six connector motions by setting rule separately, and then pass through six cue balls and cut with scissors six connecting rods of drive, cut with scissors the motion of drive claw beam platforms work 6 DOF through six cue balls on the claw beam platform again, thereby the clamp that realization is fixed on the claw beam platform carries out the forging operation of any direction.Therefore, come from six cover linear drive systems motion and power transmission, synthesize on claw beam platform and clamp, realize the multidimensional operation of forging blank.
The present invention has substantive distinguishing features and marked improvement, by a six-dimensional parallel forging operator configuration, utilize the motion and the power output of six cover linear drive systems to import as motion and power, obtain large-tonnage operating physical force and sextuple operational movement, realize at lower cost that claw beam lifting, claw beam pitching, the claw beam of large forgings is traversing, the forging multi-faceted operations such as clamp yielding of distortion of extending in the claw beam swing, forging process.But the present invention's modularized design simple in structure, easy to manufacture, can adapt to the distortion of forging blank during forging process for fuel by the control of input motion, avoid the servo tracking campaign of walking cart in the forging process, be easy to guarantee the forging quality of forging, cut down the consumption of energy, enhance productivity.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Among Fig. 1,1 is track, and 2 are the walking cart, and 3 is forging, and 4 is clamp, and 5 is the claw beam platform, and 6 are the cue ball hinge, and 7 is connecting rod, and 8 is connector, and 9 is the column slide rail, and 10 is upper mounting plate, and 11 is linear drive system.
Fig. 2 effect structure figure of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing technical scheme of the present invention is further described.
Fig. 1 is a structural representation of the present invention.As shown in Figure 1, six-dimensional parallel forging operator of the present invention is made up of six cover linear drive systems and the bindiny mechanisms that connect linear drive system and claw beam platform, mainly comprises: 8,12 identical cue balls of six identical connectors cut with scissors 6, six isometric connecting rods 7, claw beam platform 5, clamp 4, upper mounting plate 10, six groups of identical column slide rails 9 and six overlap identical linear drive system 11.Six cover linear drive systems 11 are along the fixedly connected upper mounting plate 10 of the circumferencial direction of upper mounting plate 10, and utilize one group of column slide rail 9 that is fixed on the walking cart 2 to lead separately, every cover linear drive system 11 connects separately and drives a connector 8, every connector 8 links to each other with an end of a connecting rod 7 by a cue ball hinge 6, the other end of every connecting rod 7 is connected with claw beam platform 5 by cue ball hinge 6, six cue ball hinge 6 circumferential directions along claw beam platform 5 are installed the clamp 4 that grasps forging 3 on the claw beam platform 5 on the claw beam platform 5.
During forging operation, six cover linear drive systems 11 drive 8 motions of six connectors by setting rule separately, and then pass through six cue balls and cut with scissors six connecting rods 7 of 6 drives, cut with scissors the 5 work 6 DOF motions of 6 drive claw beam platforms through six cue balls on the claw beam platform 5 again, thereby the clamp 4 that realization is fixed on the claw beam platform 5 carries out the forging operation of any direction.Therefore, come from six cover linear drive systems 11 motion and power transmission, synthesize on claw beam platform 5, realize the multidimensional operation of forging blank 3.
Claims (1)
1, a kind of six-dimensional parallel forging operator, it is characterized in that comprising six identical connectors (8), 12 identical cue ball hinges (6), six isometric connecting rods (7), a claw beam platform (5), a clamp (4), a upper mounting plate (10), six groups of identical column slide rails (9) and the identical linear drive system (11) of six covers, six cover linear drive systems (11) are along the fixedly connected upper mounting plate of circumferencial direction (10) of upper mounting plate (10), and utilize one group of column slide rail (9) that is fixed on the walking cart (2) to lead separately, every cover linear drive system (11) connects separately and drives a connector (8), every connector (8) links to each other with an end of a connecting rod (7) by a cue ball hinge (6), the other end of every connecting rod (7) is connected with claw beam platform (5) by a cue ball hinge (6), last six cue balls hinges of claw beam platform (5) (6) are along the circumferential directions of claw beam platform (5), and claw beam platform (5) is gone up the clamp (4) that grasps forging (3) is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100304614A CN100342995C (en) | 2005-10-13 | 2005-10-13 | Six-dimensional parallel forging operator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100304614A CN100342995C (en) | 2005-10-13 | 2005-10-13 | Six-dimensional parallel forging operator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1745937A CN1745937A (en) | 2006-03-15 |
| CN100342995C true CN100342995C (en) | 2007-10-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100304614A Expired - Fee Related CN100342995C (en) | 2005-10-13 | 2005-10-13 | Six-dimensional parallel forging operator |
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| Country | Link |
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| CN (1) | CN100342995C (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102886478A (en) * | 2011-07-21 | 2013-01-23 | 张德崑 | Multifunctional hydraulic machine |
| CN102935476B (en) * | 2012-10-30 | 2014-12-10 | 燕山大学 | Partial-movement-decoupled forging manipulator |
| CN102935480B (en) * | 2012-10-30 | 2014-12-10 | 燕山大学 | Little kinematic coupling type six-degree-of-freedom forging manipulator |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3696651A (en) * | 1970-04-30 | 1972-10-10 | Davy & United Eng Co Ltd | Forging manipulator |
| US4961336A (en) * | 1987-03-03 | 1990-10-09 | Davy Mckee (Sheffield) Limited | Manipulator for metal ingots |
| JPH07237170A (en) * | 1994-02-28 | 1995-09-12 | Agency Of Ind Science & Technol | Robot hand for casting work |
| CN2476368Y (en) * | 2001-04-28 | 2002-02-13 | 姬建羽 | Trackless forging manipulator |
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
-
2005
- 2005-10-13 CN CNB2005100304614A patent/CN100342995C/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3696651A (en) * | 1970-04-30 | 1972-10-10 | Davy & United Eng Co Ltd | Forging manipulator |
| US4961336A (en) * | 1987-03-03 | 1990-10-09 | Davy Mckee (Sheffield) Limited | Manipulator for metal ingots |
| JPH07237170A (en) * | 1994-02-28 | 1995-09-12 | Agency Of Ind Science & Technol | Robot hand for casting work |
| CN2476368Y (en) * | 2001-04-28 | 2002-02-13 | 姬建羽 | Trackless forging manipulator |
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1745937A (en) | 2006-03-15 |
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| C06 | Publication | ||
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20060315 Assignee: Jiangsu Yizhong CNC Machine Tool Co., Ltd. Assignor: Shanghai Jiao Tong University Contract record no.: 2012320000922 Denomination of invention: Six-dimensional parallel forging operator Granted publication date: 20071017 License type: Exclusive License Record date: 20120809 |
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| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20060315 Assignee: Jiangsu Yizhong CNC Machine Tool Co., Ltd. Assignor: Shanghai Jiao Tong University Contract record no.: 2012320000922 Denomination of invention: Six-dimensional parallel forging operator Granted publication date: 20071017 License type: Exclusive License Record date: 20120809 |
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| LICC | Enforcement, change and cancellation of record of contracts on the licence for exploitation of a patent or utility model | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20071017 Termination date: 20141013 |
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| EXPY | Termination of patent right or utility model |