Research of forging handling robot mechanism based on hybrid structure

摘要

The forging handling robot is one of the key pieces of equipment in the integrated forging operation unit. The robot is characterized by heavy loading ability, high velocity and high positioning accuracy. According to these characteristics, this work proposes a new scheme for the hybrid structure. The scheme can complete 5-DOF motion, which contains body rotation, clamp expansion, clamp lifting, clamp rotation and clamp gripping. The main movement body is a type of hybrid mechanism that is composed of three groups of parallelogram mechanisms, driven by three groups of hydraulic cylinders in parallel. This scheme can effectively extend the working space of the robot and more reasonably allocate the load to allow easier control. Kinematic model was established at the end of the robot gripper for linear motion based on the sine curve, the change curves of the displacement of each hydraulic cylinder using MATLAB. The correctness of the model and the rationale of the mechanisms were verified. The scheme provides a reference for the design of the forging handling robot mechanism.