Finite Element Analysis And Experimental Study Of Forging Manipulator

As an important auxiliary equipment in the fast forging hydraulic press, the forging manipulator can greatly improves the forging efficiency, improves the working environment,and alleviates labor intensity. Along with the rapid development manufacturing industry in our country, the demand for forgings have been increased rapidly and the quality of forgings have been directly affected to a higher level. The development of basic scientific research is very important to improve the independent design of heavy-duty manufacturing equipment,manufacturing capacity and strengthen the competitiveness of our country. Focusing on the 3basic problems to be resolved, 7 researches are carried out in National 973 Program “The basic scientific problems of heavy-load operation equipment” and part of the work has achieved outstanding progress and important innovation. However, there is a lack of effective breakthrough in the research on clamping mechanism and clamping force of forging manipulator. Manipulator clamping force analysis and calculation has become the bottleneck of the structure design of heavy-duty manipulator clamping device.In this thesis, the theoretical analysis of forging manipulator clamping force was researched under the condition of considering the droop angle of the forging, the clamping force calculation method was introduced and the relevant factors influencing the clamping state was analyzed. According to the design principle of clamping mechanism of large forging manipulator and the actual working condition, the clamping mechanism experimental device was designed to provide the conditions for experimental research. Combined with theoretical analysis method, the clamping force was tested under different conditions by using the experimental device. The clamping mechanism experimental device simulation model was established and the simulation analysis was carried out. Taking account of the clamping force results, the test data and the simulation results, the forging manipulator clamping force calculation method was cleared.In this thesis, the manipulator clamping force was analyzed and the experiment scheme was presented according to the results of the analysis. In the design of clamping force experiment device, the problem of droop angle measurement was solved and the dynamic testing structure of the clamping force was simplified by using BALLUFF BSI_MOD₀002Angle sensor. The clamping mechanism model was simulated by using software ANSYS Workbench and the stress distribution of the parts of clamping mechanism. The contact stress between the jaw and workpiece was simulated by using software ANSYS and the result showed that it was not according to the law of linear distribution. Both the rationality of the design of the clamping mechanism and the rationality of theoretical calculation were verified by using ADAMS dynamics simulation.According to the theoretical analysis results, the static and dynamic experiment were carried out on the clamping mechanism respectively, that is to say, the clamping force wastested when the jaw was in a state of state of vertical, horizontal and at any angle. The results showed that the rotation Angle of jaw and the droop Angle of forging had great influence on the clamping force. Compared with the clamping force when the jaw was in a state of horizontal, the droop angle had a greater influence on the clamping force when the jaw was in a state of vertical. According to the different test conditions, the clamping cylinder pressure was tested under the condition of stable clamping. The stress of the jaw was measured and the variable regularity of stress was studied. Both the variable regularity of the clamping force and the stress variable rule of the components of the clamping mechanism in the dynamic process were summarized through the contrast between the results of the simulation analysis and testing data.