Research On The Precision Of Cart Movement Control Of Heavy Load Forging Manipulator

Heavy duty forging manipulator is an indispensable equipment in forging industry,its role can not be replaced. One of most important functions of the large rail forging manipulator is its walking function,the rationality of the walking mechanism of the manipulator and the structure of the advantages and disadvantages will directly affect the accuracy and stability of the movement of the manipulator.It has a great influence on the working efficiency and the processing quality of the workpiece.How to make large linkage fast forging operation machine mechanical, hydraulic part of the quality of small, start the operating mechanism,brake precision and smooth, fast response,the study has important significance to forging manipulator and major equipment manufacturing industry.The paper is based on the three dimensional solid model of the existing forging manipulator,The force of the cart and the dynamic data change under the two operating conditions of the manipulator's starting and braking are researched.By analyzing the forces acting on the traveling parts of the manipulator and the calculation of the relevant data, the paper puts forward the scheme of graded decelerating braking to solve the problem of large running precision.The braking, the resulting displacement and the time are calculated from the highest speed.Under the premise of ensuring accuracy, reduce the braking speed, calculate the value of the first deceleration,that is the initial braking speed.Check and calculate the pin-tooth gear strength to ensure that pin-tooth gear and the pinned shan rack ensure that the manipulator are resisted by the inertia force generated when braking from the highest speed.Analysis of the accumulator of forging manipulator,the result shows that the reasonable choice of the inflator pressure and the working pressure of the accumulator has a great influence on the hydraulic system.According to walking accuracy requirements and related hydraulic components of the working pressure to recalculate and select the appropriate type of accumulator.It is analyzed that the influence of the hydraulic shock caused by the hydraulic oil in the pipeline on the control precision of the manipulator on the braking states.The results show that the velocity of the liquid in the pipeline directly affects the internal working pressure of the hydraulic system,which provides the basis for the braking scheme of the stepped deceleration.Analysis of the hydraulic control system of the running part of manipulator.Using AMESim to simulate and analyze the hydraulic system of forging manipulator carts,Under the two conditions of fast forging and constant forging,the dynamic characteristic curve and the dynamic characteristic curve of the corresponding feed displacement of the operator are given by the different feed displacement signals of the different sets.Based on the analysis of the maximum overshoot, the adjustment time,the peak time and the rise time of the displacement response curve of each group, the relationship between the accuracy and the feed distance and the speed of the cart is obtained.When the feed distance increases, the speed increases, the inertia increases, and the maximum overshoot of the feed displacement dynamic characteristic curve exceeds the ± 10mm range.It is necessary to strictly control the feeding displacement of the cart, so as to ensure the accuracy of walking to meet the predetermined requirements.At the same time, the simulation results verify the feasibility and rationality of the hierarchical deceleration braking scheme.