Although a single arm is used, what is mentioned here is a forged walking beam driven by a multi-joint robot. This may involve the structural development of walking beams and the application of multi-joint robots. According to the content, the development of walking beams has gone through three stages. The fourth generation combines multi-joint robots with the characteristics of three-dimensional free trajectory and high positioning accuracy. This may have reference value for single-arm designs, as the flexibility and precision of multi-joints may be equally applicable to single-arm structures.

Like welding robots, KUKA robots, FANUC robots, etc., they involve applications such as handling and palletizing. Although not directly related, the mechanical arm structural design of industrial robots may have something in common, such as joint drive, trajectory planning, etc. Additionally, handling and palletizing require high precision and repeatability, which may have similarities to walking beam operations in the forging process.

Then come to the structural design and trajectory planning of the intelligent garbage sorting robotic arm. Although the application scenarios are different, the trajectory planning and structural design methods may have reference significance. For example, trajectory planning is very important for the moving trajectory of the walking beam, especially during the forging process where precise control of the path is required to avoid damage to the workpiece.

The single-arm walking beam forging robot may combine the structure of a traditional walking beam and the driving method of a multi-joint robot. According to the multi-joint robot-driven walking beam, which has the advantages of three-dimensional free movement and high-precision positioning, this may be applied to single-arm designs to improve flexibility and efficiency. In addition, the joint design of industrial robots, such as KUKA or FANUC's ‌3, may provide a reference for the structure of a single arm to ensure sufficient load capacity and range of motion.

In terms of trajectory planning:

The importance of trajectory. During the forging process, the walking beam needs to move the workpiece according to a predetermined trajectory. The trajectory planning algorithm of the multi-joint robot can optimize the movement path, reduce the production cycle and improve accuracy. This can involve complex kinematic calculations and real-time adjustments to ensure stability and accuracy during the different forging stages.

Additionally, material handling and handling applications, such as handling robots, may involve similar clamping and positioning techniques. Forging robots require reliable grippers to hold high-temperature workpieces while withstanding the shock and vibration of the forging process. Experience in high-temperature and impact-resistant design of industrial robots may be applied here.

However, it should be noted that the search results do not directly mention "single-arm" structures, most of which are multi-joint or multi-arm systems. It may be necessary to extrapolate the possibilities of a single-arm design, such as by reducing the number of joints or optimizing the structure to achieve single-arm operation while maintaining the necessary flexibility and load capacity. Additionally, the advantages of fourth-generation walking beams, such as three-dimensional free trajectories, may be realized in single-arm designs with more compact joint configurations.

The single-arm walking beam forging robot is an industrial equipment that integrates multi-joint robot drive technology and traditional walking beam structure. It is mainly used in high-temperature and high-pressure metal forging scenarios. Its core design features are as follows:

1. Structural composition and driving method

Single-arm multi-joint mechanical structure‌ Adopts modular joint design to achieve free trajectory movement in three-dimensional space. The joint drive system is usually equipped with servo motors and precision reducers to ensure positioning accuracy under high loads (error ≤±0.1mm)

‌

‌Stepping beam and robot collaboration‌

The walking beam is responsible for the intermittent step-by-step transportation of the workpiece, while the robotic arm completes precise operations such as clamping, turning, and positioning during the forging process. The two realize action synchronization through the central control system‌

2. Key technical advantages

‌Trajectory planning optimization‌ Based on the multi-joint robot kinematics model, it can dynamically generate continuous motion trajectories that conform to the forging process, shortening the production cycle by 20%-30% compared to traditional mechanical walking beams

‌

 ‌High temperature resistance and impact resistance design‌ The end effector of the robot arm is equipped with a special alloy protective layer, which can work continuously in a high temperature environment of 800-1200℃ and withstand forging impact load (peak value ≥50kN)

‌

3. Application scenario expansion

Complex workpiece forging‌ Supports multi-angle forming of asymmetric workpieces, such as automobile crankshafts, aerospace engine blades and other special-shaped parts processing ‌Intelligent upgrade‌ Integrate visual inspection and force feedback systems to achieve real-time deformation monitoring and dynamic adjustment of process parameters during the forging process

This equipment promotes the development of the forging production line in the direction of automation and precision by integrating the flexible control of the robot and the high stability of the walking beam.