Research On Performance Of Jaw Structural In Forging Manipulator

Forging manipulator which assists forging machine during forging works is the essentialoperating equipment in modern forging industry. The main job of forging manipulator is togrip workpiece and achieve the movement of going up and down, translation, lean, rotation,and so on. The clamping capacity of claw beam component is the foundation of forgingmanipulator working smoothly. The griping jaw is the only part which contact with workpiecedirectly, and the proper design of griping jaw directly affects the clamping capacity of jaw andthe design of other structures. From the aspects of analyzing the griping force of claw beamcomponent, this paper studies the influence of griping jaw’s structure for the clampingcapacity of forging manipulator, then, regarding griping force and the mass of jaw asoptimization objectives, optimize parameters of jaw in different optimization ways. Finally, away of designing the structure of jaw is presented.Griping force is confirmed, based on the nominal weight and torque of workpiece. Thetraditional formulation of calculating the griping force can not be used in project designbecause of the results too large to use in design. There are varies new methods used incalculating the griping force and designing the griping device, but the force model they usedis still the traditional one, in which the workpiece always remain level when jaw gripworkpiece at the horizontal position. In addition, the traditional formulation study the inclinedstate, workpiece kept in, only when the jaw grip workpiece at the vertical position.Based on the analyzing the above problem, the main content of this paper is listed asfollows:1. Considering the friction between the jaw and beam, the force station of jaw andworkpiece is studied, when the workpiece is at the state of level and incline. By study theposition of contact point and the distribution of force, when the jaw at two positions and theworkpiece at two states, the formula of griping force at different situation is obtained. Usingthe ADAMS software to simulate the griping process on the30t forging manipulator, theordinary state of workpiece is incline. Therefore, griping force should be calculated when theworkpiece is at the state of incline.2. When the jaw grip inclined workpiece, the contact modebetween jaw and workpiece is point contact, which mean the contact force between jaw andworkpiece is located on the edge of jaw, when the jaw and workpiece is treated as solid. Butin the actual condition, the temperature of workpiece is high, and the deformation is occurredon the workpiece. We can find that the contact force concentrated on the edge of jaw when weobserve the stress distribution, which means that we can ignore the influence of deformationwhen we calculate the griping force.3. Mathematic model of griping force and the mass ofjaw is build, and the effect law of jaw’s structural and the coefficient of friction effect gripingforce and mass. When analyze the function of tooth on jaw, the equivalent friction coefficientis used to show the axial force for workpiece. The equivalent friction coefficient explains themethod tooth affecting the griping force, and could be used as the dependence of design the structural of tooth.4. Based the difference of importance, effect methods and the relationshipof each other, the parameter of jaw’s structure can be divided into three groups: the length ofjaw and the angle of V-shaped cavity, the parameter of tooth structure, other structureparameters. Each group can be confirmed using multi-objective optimization, single objectiveoptimization and the finite element optimization. Therefore, a method stepwise designing thestructure of jaw can be confirmed, and this method is used on optimizing the jaw of30tforging manipulator.