The Experiment Research On Clamping Structure Of Forging Manipulator

Forging manipulator is one of the important auxiliary equipment for forging automation and mechanization,which is mainly used for clamping forgings to move,rotate,lift and cooperating with the hydraulic press to complete a series of technical steps.The clamping mechanism as a core components of the manipulator mainly grips forgings stably.Its ability determines the machine’s gripping performance directly.Based on the clamping device,the paper will do a range of experiments.According to the introduction of clamping device’s principles and structures,also the effect of sensor,then the significance and feasibility of the experimental study is cleared.The confirmation of jaw clamping force is a prerequisite for designing its mechanism.The paper compares three jaw clamping forces of calculating models and obtains a reasonable one,which ensures relationships between the jaw clamping force and the clamping forging diameter.With the experimental methods,the paper analyzes its theoretical model from static and dynamic perspectives.The results and the theoretical results are consistent,which proves the validity of the model.Starting from the shapes of clamping forging,the specific work conditions that clamping shaft forging and clamping disk forging have been discussed,the features of clamping mechanism have been analyzed.Meanwhile,the features of clamping mechanism output force on forging manipulator can meet the needs of clamping shaft forging currently,but the capacity is weaker for clamping disk forging.Through analysis of the features about clamping force needs and clamping disk forging,it’s obvious that clamping mechanism needs constant output force.Then propose the whole design thought about clamping mechanism on forging manipulator.That the transmission ratio is same when the clamping mechanism at the limiting position as a core idea,the paper proposes design method of similar constant force clamping mechanism.According to the factors from clamping mechanism structure,the necessary parameters that design similar constant force clamping mechanism have been determined.Analyzing the whole structure of clamping mechanism on forging manipulator,solving the problem about the low efficiency of transmission force on similar constant force clamping mechanism.For experimental analysis,according to the design method of similar constant force clamping mechanism,its parameters have been determined on the clamping device.The experiment tests the output force of original clamping mechanism and similar constant force clamping mechanism,which proofs the feasibility about design method of similar constant force clamping mechanism.Modeling a clamping device,using finite element analysis software to analyze the stressof two kinds clamping mechanisms,which aimed at identifying stress distribution on clamping mechanism to provide some reference for the design of the clamping mechanism.Finally,based on the simulation results,the key parts of the nipper arm and jaw stress have been tested and compared with simulation results.It defines the stress of the clamping mechanism variation from the experiment perspective on the one hand,but also verifies the correctness that simulation method analysis of the stress,which provides the basis for later stress analysis on forging manipulator.