| With the development of the production process of large forgings towards the road of high efficiency,energy saving and sustainable development,new requirements for forging equipment are put forward.In the automatic forging system,the forging manipulator is an indispensable auxiliary equipment to achieve high efficiency forging production.It is mainly used to cooperate with the hydraulic press to complete various forging process actions.The hanging system of forging manipulator is an important part of forging process.The rationality of its structure design directly affects the movement stability and forging accuracy of forging manipulator.In this paper,the hanging system of parallel link forging manipulator is taken as the research object.Combined with the structural characteristics and actual operation,the structural design and movement of the hanging system are studied,which provides a reference for the basic design of forging manipulator.According to the movement process of the hanging system in the actual operation,combined with the structural layout characteristics of the hanging system of the parallel link forging manipulator,the hanging system model is reasonably simplified.According to different movement conditions,the hanging system is divided into three mechanism units:lifting,pitching and buffering.Combined with the operation process and forging process of the forging manipulator,the specific movement is carried out respectively.Through analysis,it is determined that the transverse dimension of the whole hanging system is determined by the clamp rod dimension of the clamp device,the relationship between the structural dimension and the lifting height is obtained,and the position of the hydraulic cylinder is determined.Through analyzed the stress of the clamp device,it determines the relationship between the stress of the hanging system and the structure size,and provides the basis for the design of the bearing capacity of the hanging system of the forging manipulator.The closed kinematic equation of the motion position of the hanging system is established by using the analytical method.Through the theoretical analysis of the kinematic equation,the coupling relationship of the hanging system is determined.Based on the size of the clamp rod with the clamping capacity of 30 t,the structural size of the hanging system is obtained.The relationship between the input of hydraulic cylinder and the output position of clamp end is obtained by programming the motion equation with MATLAB.Using SolidWorks to establish the three-dimensional model of the hanging system,and then imports the kinematics simulation software ADAMS of the mechanical system,combined with the actual situation of the hanging system movement to set the range of motion and add constraints,carry out the kinematics simulation of the hanging system,and get the motionrules of the hanging system.By comparing the simulation results with the theoretical analysis results,the rationality of the structural analysis of the hanging system is verified.Finally,the buffer function of the hanging system is studied and the buffer structure is designed.Through the analysis of the structure,the relationship between the damping and stiffness of the performance parameters and the structure of the buffer device is obtained,which provides a theoretical basis for the realization of the buffer effect of the hanging system. |
