CN106424503B - A kind of four-degree-of-freedom parallel connection forging press - Google Patents
A kind of four-degree-of-freedom parallel connection forging press Download PDFInfo
- Publication number
- CN106424503B CN106424503B CN201610900416.8A CN201610900416A CN106424503B CN 106424503 B CN106424503 B CN 106424503B CN 201610900416 A CN201610900416 A CN 201610900416A CN 106424503 B CN106424503 B CN 106424503B
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- Prior art keywords
- support
- hole
- ball
- transverse axis
- forging
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Classifications
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- 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
A kind of four-degree-of-freedom parallel connection forging press, it includes support, moves platform, and two transverse axis, four structure identical SPR types drive branch, wherein four SPR type linear drives branches circumference uniform distributions between support and dynamic platform, two transverse axis rotate with dynamic platform serrated vertical to be coupled；Piston rod upper end in SPR type linear drives branch rotates with transverse axis one end to be coupled, piston-rod lower end piston is slidably matched with hydraulic cylinder, the hydraulic cylinder is located in the large through-hole of support, sealing plate set is on the piston rod and floating seal is on the conical through-hole of support, ball bulge loop with support hole is concentric is connected, ball bulge loop and ball impression ring sphere-contact, ball impression ring with hydraulic cylinder is concentric is connected, cone spring small end is against ball impression ring lower end, and the big end of cone spring is against above support lower plywood.The present invention has simple in construction, lightweight, stress good, is easily controlled, and disclosure satisfy that the advantages that requiring the multi-faceted forging technology of complex forging.
Description
Technical field
The present invention relates to a kind of robot, particularly a kind of forging press in parallel.
Background technology
Traditional forging press generally realizes that one-dimensional pressure is moved by two or four compression leg device band dynamic pressure plate with respect to machine seat board,
It is pointed to workpiece between machine seat board and pressing plate and carries out forging processing.With industrial forging product complex-shapedization, pressure processing system
Make industry and propose three-dimensional forging technology adaptable therewith：Require that pressing plate makees multiple degrees of freedom forging motion with respect to machine seat board, realize
Multi-faceted forging to complex forging.In recent years, in terms of forging press in parallel, Publication No. CN1745932B patent of invention is public
A kind of parallel combined block-sliding forging press of dual press is opened, the motion and power output by the use of two baby press are used as motion
Inputted with power, obtain large-tonnage forging force and forging and stamping are moved, realize large forgings manufacture.Publication No. CN1745935B hair
Bright patent discloses a kind of Overbeam parallel combined forging press of dual press, utilizes the motion of two baby press moved cross beams
With power output as motion and power input, by double-slider input two-freedom plane-parallel type forging press configuration carry out motion and
Power synthesizes, and obtains large-tonnage forging force and forging and stamping are moved, form Overbeam parallel combined forging press of dual press.Publication No.
CN1745933 patent of invention discloses a kind of parallel combined block-sliding forging press of four press, utilizes four baby press
The motion of moved cross beam and power output obtain large-tonnage forging force and forging and stamping are moved, form suspension beam type as motion and power input
Press of four parallel combination forging press.Publication No. 200510030460.X patent of invention discloses a kind of six-dimensional parallel forging
Press, motion and power output by the use of six sets of linear drive systems pass through the 6 DOF that six sliding blocks input as motion and power input
Parallel forging press configuration carries out motion and power synthesis, obtains large-tonnage forging force and forging and stamping are moved, realize complex forging
Multi-faceted forging.
Although above-mentioned forging and stamping function in parallel realizes 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, minority carrier generation lifetime has that structure is relatively easy, and control is easy
Advantage.How the in parallel forging press of four-freedom parallel mechanism simple structure is used, to carry out multi-faceted forging to complex forging,
It is always the problem of forging equipment research to meet the requirement of forging product complex-shapedization.
The content of the invention
It is an object of the invention to propose a kind of simple in construction, lightweight, stress is good, is easily controlled, and can be adapted to complexity
The four-degree-of-freedom parallel connection forging press of the multi-faceted forging technology requirement of forging.
The present invention includes support, dynamic platform, two transverse axis, four structure identical SPR type linear drives branches, wherein, four
Individual SPR types linear drives branch circumference uniform distribution between support and dynamic platform, dynamic platform are provided with two interlaced vertical through holes, should
The transverse axis that a both ends carry boss is respectively equipped with through hole, two transverse axis rotate with dynamic platform serrated vertical to be coupled, and the two of transverse axis
End boss is equipped with two and is parallel to each other and perpendicular to the through hole of 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 are provided with the large through-hole concentric with conical through-hole；The SPR types linear drives branch includes
Piston rod, hydraulic cylinder, ball bulge loop, ball impression ring, cone spring, sealing plate, piston rod upper end and the through hole of transverse axis one end boss pass through
Pin shaft joint, piston and the hydraulic cylinder of piston-rod lower end are slidably matched, and the hydraulic cylinder is located in the large through-hole of support lower plywood, close
Shrouding set is on the piston rod and floating seal is on the conical through-hole of support, and ball bulge loop is concentric connected with support taper hole, and ball is convex
Ring and ball impression ring sphere-contact, ball impression ring is concentric connected with hydraulic cylinder upper end, and cone spring small end arrives to ball impression ring lower surface, bores
The big end of spring is arrived to above support lower plywood.Formd by sealing plate, support taper hole, ball bulge loop, ball impression ring and hydraulic cylinder upper end
Sealing lubricating oil chamber, it can guarantee that ball bulge loop slides with the global face of ball impression and lubricate；Preload pressure is applied to cone spring, it is ensured that ball bulge loop
Sphere-contact is remained with ball impression ring；Sealing plate covers on the piston rod, prevents object from falling into lubricant reservoir.Workpiece is located at support
Between dynamic platform, the oil pressure between the hydraulic cylinder and piston of four SPR types driving branches is controlled, dynamic platform can be realized with respect on support
Workpiece four-degree-of-freedom pressure motion, when workpiece is positioned at machine seat board and pressing plate between, the oil between control hydraulic cylinder and piston
Pressure, it can realize that moving platform pressing plate depresses motion with respect to the four-degree-of-freedom of workpiece on support, realize the multi-faceted forging of complex forging
Make.
The present invention has the following advantages that compared with prior art：
Simple in construction, lightweight, stress are good, are easily controlled, and disclosure satisfy that and the multi-faceted forging technology of complex forging is wanted
Ask.
Brief description of the drawings
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：It is horizontal that 1- supports, 2- move platform, 3- balls bulge loop, 4- ball impressions ring, 5- hydraulic cylinders, 6- cones spring, 7- piston rods, 8-
Axle, 9- bearing pins, 10- workpiece, 11- sealing plates.
Embodiment
In the 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 are provided with two interlaced vertical through holes, one two are respectively equipped with the through hole
Transverse axis 8 of the end with boss, two transverse axis rotate with dynamic platform serrated vertical to be coupled, and the both ends boss of transverse axis is equipped with two mutually
Parallel and perpendicular to the through hole of 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 conical through-hole；The upper end of piston rod 7 and transverse axis one in the SPR types linear drives branch
The through hole of end boss is coupled by bearing pin 9, and piston and the hydraulic cylinder 5 of piston-rod lower end are slidably matched, and the hydraulic cylinder is located at support
In the large through-hole of lower plywood, 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 machine
Seat taper hole is concentric to be connected, and ball bulge loop and the sphere-contact of ball impression ring 4, ball impression ring is concentric connected with hydraulic cylinder upper end, bores spring 6
Small end arrives to ball impression ring lower surface, and the big end of cone spring is arrived to above support lower plywood.By sealing plate, support taper hole, ball bulge loop, ball
Scrobicular ring forms sealing lubricating oil chamber with hydraulic cylinder upper end, can guarantee that ball bulge loop slides with the global face of ball impression and lubricates；To boring spring
Apply preload pressure, it is ensured that ball bulge loop remains sphere-contact with ball impression ring；Sealing plate covers on the piston rod, prevents object from falling
Enter lubricant reservoir.Workpiece 10 is between support and dynamic platform, between the hydraulic cylinder and piston that control four SPR types driving branches
Oil pressure, it can realize that four-degree-of-freedom pressure of the dynamic platform with respect to the workpiece on support is moved, when workpiece is between machine seat board and pressing plate,
The oil pressure between hydraulic cylinder and piston is controlled, can realize that moving platform pressing plate depresses motion with respect to the four-degree-of-freedom of workpiece on support,
Realize 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：Four SPR type linear drives branches circumference uniform distribution between support and dynamic platform, dynamic platform are set
There are two interlaced vertical through holes, the transverse axis that a both ends carry boss is respectively equipped with the through hole, two transverse axis are with moving
Platform serrated vertical rotates connection, and the both ends boss of transverse axis is equipped with two and is parallel to each other and perpendicular to the through hole of transverse axis；Support is set
There is a upper and lower two-ply, top plate is provided with four uniform conical through-holes, and lower plywood is provided with and conical through-hole is concentric leads to greatly
Hole；The SPR types 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 is slidably matched by pin shaft joint, piston and the hydraulic cylinder of piston-rod lower end, the 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 is concentric connected with support taper hole, and ball bulge loop and ball impression ring sphere-contact, ball impression ring are concentric solid with hydraulic cylinder upper end
Even, cone spring small end arrives to ball impression ring lower surface, and the big end of cone spring is arrived 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 CN106424503A (en) | 2017-02-22 |
| CN106424503B true CN106424503B (en) | 2018-01-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610900416.8A Active CN106424503B (en) | 2016-10-17 | 2016-10-17 | A kind of four-degree-of-freedom parallel connection forging press |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110666086B (en) * | 2019-10-12 | 2020-08-21 | 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 |
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| CN106424503A (en) | 2017-02-22 |
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