锻造操作机钳口的结构分析与设计
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摘要
钳口是锻造操作机夹持机构中与工件直接接触的元件,其结构决定着操作机夹持力的确定。针对锻造操作机钳口的夹持力分析模型,提出钳口与工件摩擦因数、钳口长度和钳口夹持销轴中心距是确定夹持力的关键因素。根据钳口夹持特点,实验研究"冷"钳口与"热"工件之间摩擦因数的变化规律,分析了钳口与工件接触面摩擦因数的取值范围;研究被夹持工件的类型和结构特点,确定了钳口长度的设计原则;分析了被夹持最小工件直径对操作机设计和应用的影响,研究了被夹持最小工件直径的确定方法;明确基于钳口满足强度条件下质量最轻来进行优化设计并确定钳口夹持销轴中心距的研究思路,为锻造操作机钳口结构设计提供了有效支撑。
The jaw is the component contacting with workpiece directly in the forging manipulator clamping mechanism,and its structure determines the clamping force of manipulator. Based on the clamping force analysis model of the forging manipulator jaw,the key factors such as the friction factor between jaw and workpiece,the length of jaw and the center distance of jaw clamping gripper were proposed.According to the jaw clamping character,the varying rule of friction factor between the ‘cold'jaw and the ‘hot'workpiece was studied by experiment,and the value range was analyzed. Then,the type and structure characteristics of clamped workpiece were studied,and the design principles of jaw length were determined. Furthermore,the influences of the minimum diameters of clamped workpiece on design and application of manipulator were analyzed,and the determination method of the minimum diameter of clamped workpiece was studied. Finally,the optimization design with the minimum weight was carried out by meeting the strength conditions of jaw,and the research clue of determining the center distance of jaw clamping gripper was confirmed. Therefore,it provides effective support for structural design of the forging manipulator jaw.
The jaw is the component contacting with workpiece directly in the forging manipulator clamping mechanism,and its structure determines the clamping force of manipulator. Based on the clamping force analysis model of the forging manipulator jaw,the key factors such as the friction factor between jaw and workpiece,the length of jaw and the center distance of jaw clamping gripper were proposed.According to the jaw clamping character,the varying rule of friction factor between the ‘cold'jaw and the ‘hot'workpiece was studied by experiment,and the value range was analyzed. Then,the type and structure characteristics of clamped workpiece were studied,and the design principles of jaw length were determined. Furthermore,the influences of the minimum diameters of clamped workpiece on design and application of manipulator were analyzed,and the determination method of the minimum diameter of clamped workpiece was studied. Finally,the optimization design with the minimum weight was carried out by meeting the strength conditions of jaw,and the research clue of determining the center distance of jaw clamping gripper was confirmed. Therefore,it provides effective support for structural design of the forging manipulator jaw.
引文
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[7]杨晋,张文波,姜峰.锻造操作机夹持状态分析与夹持力研究[J].四川大学学报:工程科学版,2014,46(3):187-192.Yang J,Zhang W B,Jiang F.Analysis of clamping condition and research of clamping force about the forging manipulator[J].Journal of Sichuan University:Engineering Science Edition,2014,46(3):187-192.
[8]杨文玉.力抓取的接触力建模与可行抓取力分析[J].机械工程学报,2010,46(11):43-48.Yang W Y.Contact force modeling and feasible grasp force analysis of power grasp[J].Journal of Mechanical Engineering,2010,46(11):43-48.
[9]孟宪国,冯长儒.锻造操作机钳口夹紧力和夹紧缸能力的计算[J].一重技术,2006,(2):1-3.Meng X G,Feng C R.Jig jaw clamping force and cylinder clamping capacity calculation for forging manipulator[J].CFHI Technology,2006,(2):1-3.
[10]Wang W R,Zhao K,Lin Z Q,et al.Evaluating interactions between the heavy forging process and the assisting manipulator combining FEM simulation and kinematics analysis[J].The International Journal Advanced Manufacturing Technology,2010,48(5):481-491.
[11]He X M.Effects of manipulator compliant movements on the quality of free forgings based on FEM simulation[J].The International Journal Advanced Manufacturing Technology,2011,56(9):905-913.
[12]闻邦椿,张义民,鄂中凯,等.机械设计手册[M].5版.北京:机械工业出版社,2010.Wen B C,Zhang Y M,E Z K,et al.Machine Design Handbook[M].5th Edition.Beijing:China Machine Press,2010.
[2]赵勇,林忠钦,王皓.重型锻造操作机的操作性能分析[J].机械工程学报,2010,46(11):69-75.Zhao Y,Lin Z Q,Wang H.Manipulation performance analysis of heavy manipulators[J].Journal of Mechanical Engineering,2010,46(11):69-75.
[3]毛金城,杨文玉.重载工业夹持器约束建模与承载能力分析[J].华中科技大学学报:自然科学版,2011,39(12):1-5.Mao J C,Yang W Y.Constraint modeling and loading capacity analysis of heavy-duty industrial grippers[J].Journal of Huazhong University of Science and Technology:Natural Science Edition,2011,39(12):1-5.
[4]李群明,高丹,邓华.重载夹持装置接触力的封闭性[J].机械工程学报,2010,46(11):36-42.Li Q M,Gao D,Deng H.The contact force-closure of heavy duty gripping mechanisms[J].Journal of Mechanical Engineering,2010,46(11):36-42.
[5]吴永宏,李群明.机械手夹持接触力及力封闭分析[J].中南大学学报:自然科学版,2009,40(6):1580-1586.Wu Y H,Li Q M.Analysis of gripping contact force and force-closure of manipulator[J].Journal of Central South University:Science and Technology,2009,40(6):1580-1586.
[6]万胜狄,王运赣,沈元彬.锻造机械化与自动化[M].北京:机械工业出版社,1983.Wan S D,Wang Y G,Shen Y B.Forging Mechanization and Automation[M].Beijing:China Machine Press,1983.
[7]杨晋,张文波,姜峰.锻造操作机夹持状态分析与夹持力研究[J].四川大学学报:工程科学版,2014,46(3):187-192.Yang J,Zhang W B,Jiang F.Analysis of clamping condition and research of clamping force about the forging manipulator[J].Journal of Sichuan University:Engineering Science Edition,2014,46(3):187-192.
[8]杨文玉.力抓取的接触力建模与可行抓取力分析[J].机械工程学报,2010,46(11):43-48.Yang W Y.Contact force modeling and feasible grasp force analysis of power grasp[J].Journal of Mechanical Engineering,2010,46(11):43-48.
[9]孟宪国,冯长儒.锻造操作机钳口夹紧力和夹紧缸能力的计算[J].一重技术,2006,(2):1-3.Meng X G,Feng C R.Jig jaw clamping force and cylinder clamping capacity calculation for forging manipulator[J].CFHI Technology,2006,(2):1-3.
[10]Wang W R,Zhao K,Lin Z Q,et al.Evaluating interactions between the heavy forging process and the assisting manipulator combining FEM simulation and kinematics analysis[J].The International Journal Advanced Manufacturing Technology,2010,48(5):481-491.
[11]He X M.Effects of manipulator compliant movements on the quality of free forgings based on FEM simulation[J].The International Journal Advanced Manufacturing Technology,2011,56(9):905-913.
[12]闻邦椿,张义民,鄂中凯,等.机械设计手册[M].5版.北京:机械工业出版社,2010.Wen B C,Zhang Y M,E Z K,et al.Machine Design Handbook[M].5th Edition.Beijing:China Machine Press,2010.