CN106424503A - Four-freedom-degree in-parallel forging machine - Google Patents
Four-freedom-degree in-parallel forging machine Download PDFInfo
- Publication number
- CN106424503A CN106424503A CN201610900416.8A CN201610900416A CN106424503A CN 106424503 A CN106424503 A CN 106424503A CN 201610900416 A CN201610900416 A CN 201610900416A CN 106424503 A CN106424503 A CN 106424503A
- Authority
- CN
- China
- Prior art keywords
- hole
- support
- hydraulic cylinder
- forging
- transverse axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/02—Special design or construction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/10—Drives for forging presses
- B21J9/12—Drives for forging presses operated by hydraulic or liquid pressure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/10—Drives for forging presses
- B21J9/18—Drives for forging presses operated by making use of gearing mechanisms, e.g. levers, spindles, crankshafts, eccentrics, toggle-levers, rack bars
Abstract
The invention provides a four-freedom-degree in-parallel forging machine. The four-freedom-degree in-parallel forging machine comprises a machine base, a movable table, two cross shafts and four SPR type driving branches, wherein the four SPR type driving branches are the same in structure and are circumferentially uniformly distributed between the machine base and the movable table; the two cross shafts and the movable table are vertically and rotationally connected in a staggered manner; the upper end of a piston rod in each SPR type driving branch is rotationally connected with one end of the corresponding cross shaft; a piston at the lower end of the corresponding piston rod is in sliding fit with a hydraulic cylinder; each hydraulic cylinder is arranged in a large through hole in the machine base; each sealing plate sleeves the corresponding piston rod and is capable of sealing a conical through hole in the machine base in a floating manner; each spherical convex ring is concentrically and fixedly connected with a corresponding machine base hole and is in spherical contact with a corresponding spherical concave ring; each spherical concave ring is concentrically and fixedly connected with the corresponding hydraulic cylinder; the smaller end of each conical spring leans against the lower end of the corresponding spherical concave ring; a larger end of each conical spring leans against the upper surface of a corresponding lower laminate of the machine base. The four-freedom-degree in-parallel forging machine provided by the invention has the advantages of being simple in structure, light, good in stress situation, easy to control, capable of satisfying the requirements of a multi-directional forging technique for a complicated forge piece and the like.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of parallel connection forging press.
Background technology
Traditional forging press generally realizes one-dimensional pressure motion by two or four compression leg device band dynamic pressure plate relative to machine seat board,
It is pointed to workpiece between machine seat board and pressing plate and carry out forging processing.With industrial forging product complex-shapedization, pressure processing system
Make the three-dimensional forging technology that industry proposes to be adapted therewith：Require pressing plate to make multiple degrees of freedom forging motion relative to machine seat board, realize
Multi-faceted forging to complex forging.In recent years, in terms of forging press in parallel, the patent of invention of Publication No. CN1745932B is public
Open a kind of parallel combined block-sliding forging press of dual press, by the use of the motion of two baby press and power output as motion
With power input, obtain large-tonnage forging force and forging and stamping motion it is achieved that large forgings manufacture.Publication No. CN1745935B send out
Bright patent discloses a kind of Overbeam parallel combined forging press of dual press, using the motion of two baby press moved cross beams
With power output as motion and power input, the two-freedom plane-parallel type forging press configuration being inputted by double-slider carry out motion and
Power synthesizes, and obtains large-tonnage forging force and forging and stamping motion, forms Overbeam parallel combined forging press of dual press.Publication No.
The patent of invention of CN1745933 discloses a kind of parallel combined block-sliding forging press of four press, using four baby press
The motion of moved cross beam and power output, as motion and power input, obtain large-tonnage forging force and forging and stamping motion, form suspension beam type
Press of four parallel combination forging press.The patent of invention of Publication No. 200510030460.X discloses a kind of six-dimensional parallel forging
Press, is inputted by the use of the motion of six sets of linear drive systems and power output as motion and power, by the 6 DOF of six slide blocks inputs
Parallel forging press configuration carries out motion and power synthesis, obtains large-tonnage forging force and forging and stamping motion it is achieved that complex forging
Multi-faceted forging.
Although above-mentioned parallel connection forging press enables the multi-faceted forging to complex forging, forging press structure is more complicated, control
Difficulty processed is larger.Compared with six-degree-of-freedom parallel connection mechanism, it is relatively easy that minority carrier generation lifetime has a structure, controls readily
Advantage.How with four-freedom parallel mechanism simply constructed parallel connection forging press, to multi-faceted forging is carried out to complex forging,
To meet the requirement of forging product complex-shapedization, always a difficult problem for forging equipment research.
Content of the invention
It is an object of the invention to proposing that a kind of structure is simple, lightweight, stress are good, being easily controlled, can be suitable for complexity
The four-degree-of-freedom parallel connection forging press that the multi-faceted forging technology of forging requires.
The present invention includes support, dynamic platform, two transverse axis, four structure identical SPR type linear drives branches, wherein, four
Individual SPR type linear drives branch circumference uniform distribution between support and dynamic platform, dynamic platform is provided with two interlaced vertical through holes, should
It is respectively equipped with the transverse axis that two ends carry boss, two transverse axis are rotated with dynamic platform serrated vertical and couple in through hole, the two of transverse axis
End boss is equipped with two and is parallel to each other and the through hole perpendicular to transverse axis；Support is provided with upper and lower two-ply, and top plate is provided with four
Individual uniform conical through-hole, lower plywood is provided with the large through-hole concentric with bellmouth；Described SPR type linear drives branch includes living
Stopper rod, hydraulic cylinder, ball bulge loop, ball impression ring, cone spring, sealing plate, the through hole of piston rod upper end and transverse axis one end boss passes through pin
Axle couples, and the piston of piston-rod lower end and hydraulic cylinder are slidably matched, and this hydraulic cylinder is located in the large through-hole of support lower plywood, sealing
Sleeve-board is on the piston rod and floating seal is on the conical through-hole of support, and ball bulge loop is concentric with support taper hole to be connected, ball bulge loop
With ball impression ring sphere-contact, ball impression ring is concentric with hydraulic cylinder upper end to be connected, and cone spring small end arrives to ball impression ring lower surface, bores bullet
The big end of spring arrives to above support lower plywood.By sealing plate, support taper hole, ball bulge loop, ball impression ring and hydraulic cylinder upper end define close
Envelope lubricant reservoir, can guarantee that ball bulge loop is slided with the global face of ball impression and lubricates；To cone spring apply preload pressure it is ensured that ball bulge loop with
Ball impression ring remains sphere-contact；Sealing plate covers on the piston rod, stops object from falling into lubricant reservoir.Workpiece be located at support with
Between dynamic platform, control four SPR types to drive the oil pressure between the hydraulic cylinder of branch and piston, enable dynamic platform relative on support
The four-degree-of-freedom pressure motion of workpiece, when workpiece is located between machine seat board and pressing plate, controls the oil pressure between hydraulic cylinder and piston,
The four-degree-of-freedom pressure motion enabling moving platform pressing plate relative to workpiece on support is it is achieved that the multi-faceted forging of complex forging.
The present invention compared with prior art has the advantage that：
Structure is simple, lightweight, stress are good, is easily controlled, and disclosure satisfy that wanting of the multi-faceted forging technology to complex forging
Ask.
Brief description
Fig. 1 is the front sectional view of the present invention；
Fig. 2 is the side view cutaway drawing of the present invention.
In figure：1- support, 2- move platform, 3- ball bulge loop, 4- ball impression ring, 5- hydraulic cylinder, 6- cone spring, 7- piston rod, 8- horizontal stroke
Axle, 9- bearing pin, 10- workpiece, 11- sealing plate.
Specific embodiment
In four-degree-of-freedom parallel connection forging press schematic diagram shown in Fig. 1 and Fig. 2, four SPR type linear drives branches are in machine
Circumference uniform distribution between seat 1 and dynamic platform 2, dynamic platform is provided with two interlaced vertical through holes, is respectively equipped with one two in this through hole
The transverse axis 8 with boss for the end, two transverse axis are rotated with dynamic platform serrated vertical and couple, and the two ends boss of transverse axis is equipped with two mutually
Through hole parallel and perpendicular to transverse axis；Support is provided with upper and lower two-ply, and top plate is provided with four uniform conical through-holes, under
Laminate is provided with the large through-hole concentric with bellmouth；Piston rod 7 upper end in described SPR type linear drives branch and transverse axis one end
The through hole of boss is coupled by bearing pin 9, and the piston of piston-rod lower end is slidably matched with hydraulic cylinder 5, and this hydraulic cylinder is located under support
In the large through-hole of laminate, 11 sets of sealing plate is on the piston rod and floating seal is on the conical through-hole of support, ball bulge loop 3 and support
Taper hole is concentric to be connected, ball bulge loop and ball impression ring 4 sphere-contact, and ball impression ring is concentric with hydraulic cylinder upper end to be connected, and cone spring 6 is little
End arrives to ball impression ring lower surface, and the cone big end of spring arrives to above support lower plywood.By sealing plate, support taper hole, ball bulge loop, ball impression
Ring and hydraulic cylinder upper end define sealing lubricating oil chamber, can guarantee that ball bulge loop is slided with the global face of ball impression and lubricate；Cone spring is applied
Plus preload pressure is it is ensured that ball bulge loop and ball impression ring remain sphere-contact；Sealing plate covers on the piston rod, stops object from falling into
Lubricant reservoir.Workpiece 10 is located between support and dynamic platform, controls four SPR types to drive the oil between the hydraulic cylinder of branch and piston
Pressure, enables the four-degree-of-freedom pressure motion that dynamic platform is relative to the workpiece on support, when workpiece is located between machine seat board and pressing plate, control
Oil pressure between hydraulic cylinder processed and piston, enables the four-degree-of-freedom pressure motion that moving platform pressing plate is relative to workpiece on support, real
Show the multi-faceted forging of complex forging.
Claims (1)
1. a kind of four-degree-of-freedom parallel connection forging press, it includes support, dynamic platform, two transverse axis, four structure identical SPR type straight lines
Drive branch it is characterised in that：Described four SPR type linear drives branch circumference uniform distributions between support and dynamic platform, dynamic platform sets
Have two interlaced vertical through holes, in this through hole, be respectively equipped with the transverse axis that two ends carry boss, two transverse axis with dynamic
Platform serrated vertical rotates connection, and the two ends boss of transverse axis is equipped with two and is parallel to each other and the through hole perpendicular to transverse axis；Support sets
There is upper and lower two-ply, top plate is provided with four uniform conical through-holes, lower plywood is provided with concentric with bellmouth logical greatly
Hole；Described SPR type linear drives branch includes piston rod, hydraulic cylinder, ball bulge loop, ball impression ring, cone spring, sealing plate, piston rod
The through hole of one end boss of upper end and transverse axis passes through pin shaft joint, and the piston of piston-rod lower end and hydraulic cylinder are slidably matched, this liquid
Cylinder pressure is located in the large through-hole of support lower plywood, and sealing plate set is on the piston rod and floating seal is on the conical through-hole of support,
Ball bulge loop and support taper hole are concentric to be connected, ball bulge loop and ball impression ring sphere-contact, and ball impression ring is concentric with hydraulic cylinder upper end solid
Even, cone spring small end arrives to ball impression ring lower surface, and the cone big end of spring arrives to above support lower plywood.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610900416.8A CN106424503B (en) | 2016-10-17 | 2016-10-17 | A kind of four-degree-of-freedom parallel connection forging press |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610900416.8A CN106424503B (en) | 2016-10-17 | 2016-10-17 | A kind of four-degree-of-freedom parallel connection forging press |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106424503A true CN106424503A (en) | 2017-02-22 |
| CN106424503B CN106424503B (en) | 2018-01-23 |
Family
ID=58174910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610900416.8A Active CN106424503B (en) | 2016-10-17 | 2016-10-17 | A kind of four-degree-of-freedom parallel connection forging press |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106424503B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666086A (en) * | 2019-10-12 | 2020-01-10 | 燕山大学 | Over-constrained six-degree-of-freedom parallel mechanism forging machine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3181435A (en) * | 1961-10-27 | 1965-05-04 | Harry R Buey | Fluid pressure actuated mechanism |
| DE19814487A1 (en) * | 1998-04-01 | 1999-10-14 | Eckart Doege | Locking arrangement for forming tools used for powder pressing, precision forging, thixoforging, injection pressing, injection molding etc. |
| CN103612684A (en) * | 2013-12-05 | 2014-03-05 | 燕山大学 | Three-plane-branch six-degree-of-freedom parallel wall-climbing robot |
| CN104890843A (en) * | 2015-06-17 | 2015-09-09 | 燕山大学 | Heavy hammer type ball-hinge rotation balancing table |
| CN105235763A (en) * | 2015-10-16 | 2016-01-13 | 燕山大学 | Parallel-connected wall-climbing robot comprising six variable branches |
| CN105500341A (en) * | 2016-01-13 | 2016-04-20 | 燕山大学 | Four-freedom-degree 3SPRR and SP type hybrid flexible hands for robots |
| CN105666472A (en) * | 2016-03-29 | 2016-06-15 | 燕山大学 | Track type wall-climbing four-freedom degree parallel robot |
-
2016
- 2016-10-17 CN CN201610900416.8A patent/CN106424503B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3181435A (en) * | 1961-10-27 | 1965-05-04 | Harry R Buey | Fluid pressure actuated mechanism |
| DE19814487A1 (en) * | 1998-04-01 | 1999-10-14 | Eckart Doege | Locking arrangement for forming tools used for powder pressing, precision forging, thixoforging, injection pressing, injection molding etc. |
| CN103612684A (en) * | 2013-12-05 | 2014-03-05 | 燕山大学 | Three-plane-branch six-degree-of-freedom parallel wall-climbing robot |
| CN104890843A (en) * | 2015-06-17 | 2015-09-09 | 燕山大学 | Heavy hammer type ball-hinge rotation balancing table |
| CN105235763A (en) * | 2015-10-16 | 2016-01-13 | 燕山大学 | Parallel-connected wall-climbing robot comprising six variable branches |
| CN105500341A (en) * | 2016-01-13 | 2016-04-20 | 燕山大学 | Four-freedom-degree 3SPRR and SP type hybrid flexible hands for robots |
| CN105666472A (en) * | 2016-03-29 | 2016-06-15 | 燕山大学 | Track type wall-climbing four-freedom degree parallel robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666086A (en) * | 2019-10-12 | 2020-01-10 | 燕山大学 | Over-constrained six-degree-of-freedom parallel mechanism forging machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106424503B (en) | 2018-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104439033A (en) | Axial closed rolling forming method | |
| CN102513836A (en) | Follower rest for hydraulic automatically centering, automatically compensating and surface rolling | |
| CN106424503A (en) | Four-freedom-degree in-parallel forging machine | |
| CN103085303A (en) | High-speed precise punch | |
| CN103939427A (en) | Double-acting servo pressure cylinder for press machine | |
| CN105922168A (en) | Workpiece clamping device | |
| CN104550618A (en) | Pneumohydraulic self-piercing riveting machine | |
| CN109707754A (en) | A kind of pressure riveting device and its riveting method fixed for oscillating bearing flange V-shaped groove | |
| CN201871907U (en) | Mounting tool for cylinder piston of engine | |
| CN104384412A (en) | Multi-directional die forging process testing device | |
| CN103991236B (en) | The stamping machines based on three grades of force-increasing mechanisms that pneumatic muscle drives | |
| CN106391964B (en) | A kind of freedom degree parallel connection forging press | |
| CN106313603A (en) | Pressurization punch and electric wire terminal crimping machine using same | |
| CN108161970A (en) | Sucking disc type mechanical hand with two-stage compression stroke | |
| CN104439009A (en) | Axial closed rolling forming equipment | |
| CN201632811U (en) | Production line through type hydraulic machine | |
| CN204449160U (en) | Axial enclosed roll milling forming equipment | |
| CN102829151A (en) | Double-rocker transmission chain structure | |
| CN206465048U (en) | Portable big rigid spring assembling device | |
| CN210970019U (en) | Small-tonnage high-performance crank stamping equipment | |
| CN204247891U (en) | Multi-ram forging engineer testing device | |
| CN110666086B (en) | Over-constrained six-degree-of-freedom parallel mechanism forging machine | |
| CN203901760U (en) | Air cylinder underneath type toggle lever and lever second-level reinforcement press | |
| CN203009761U (en) | Double-rocker transmission chain structure | |
| CN101733962A (en) | Press machine lower die height adjusting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |