Research On Forging Manipulator Constant Force Output Clamping Mechanism

The forging manipulator is one of the important auxiliary equipments for free forging,its main function is to clamp steel ingots or billets with the hydraulic press to complete the forging process.The forging manipulator gripping device is the executing part that completes the gripping action,it is also one of the core components of the forging manipulator.The output clamping force and clamping stability of the forging manipulator clamping device determine the reliability and rationality of the forging manipulator's design,they have significant meaning for the application of the forging manipulator.This paper proposes the design idea of the approximate constant force output clamping device,which provides the conditions for fully exerting the clamping ability of the forging manipulator.The forging manipulator clamping device consists of jaws,clamping mechanism and clamp rod.According to the process characteristics of the typical forgings,the paper studies the clamping characteristics and performance requirements of the forging manipulator,determining the change law between jaws opening and clamping force,studying the factors affecting the clamping force under typical working conditions,analyzing the relationship between jaw structure and clamping force.The structural features of the forging manipulator gripping device are studied,the design requirements of the gripping device are analyzed,and the rational structure of the gripping device is clarified.Combined with the clamping characteristics of the forging manipulator,the clamping performance and problems of some operating manipulators are analyzed,the influence of the jaw opening on the clamping stability of the manipulator is clarified,and it is determined that the manipulator clamping mechanism should meet the necessity of approximate constant force output.According to the working principle and structural characteristics of the clamping mechanism,it is clarified that the transmission force ratio is the key factor for the approximate constant force output of the clamping mechanism,and the calculation method of the transmission force ratio is determined.In the paper,the basical structural parameters of the clamping mechanism are studied in combination with the actual application conditions and workpiece clamping characteristics of the forging manipulator,and the determination idea of the relevant structural parameters is analyzed.According to the geometric relationship of the clamping mechanism,the transmission force ratio of the clamping mechanism and other undetermined parameters of the clamping mechanism are determined by taking the maximum and minimum slewing radius of the clamping mechanism as the limiting condition,providing the theoretical basis for constant force ratio of the clamping mechanism design..Based on determining maximum and minimum jaw opening,according to the theoreticalmethod of clamping force of the forging manipulator,the minimum stable output clamping force of the forging manipulator is determined by the maximum workpiece load and the minimum jaw opening.The clamping hydraulic cylinder parameters of the clamping device are determined by the constant transmission force ratio of the clamping mechanism and the minimum stable output clamping force,completing the design of the constant force output manipulators clamping mechanism.According to the research method of the constant force output clamping mechanism,the approximate constant force clamping mechanism of the 30 T and 60 T manipulators are theoretically calculated,and the original mechanism and the approximate constant force output mechanism were compared and analyzed.Finally,the mechanics analysis and clamping stability analysis of the improved manipulator clamping mechanism are performed,determining the feasibility of the research results.