Design Of Forging Manipulator Clamping Mechanism

Forging manipulator is one of the important auxiliary equipment in forging industry.It is used to hold forgings and complete forging work with the main forging machine through various actions completed to meet the basic forging process requirements.As the executive mechanism of the forging manipulator,the clamping device is the core component of the forging manipulator.As the actuator of the forging manipulator,and also the key research object of the manipulator.According to the typical clamping condition of forging manipulator,the necessity of holding workpiece by constant force of forging manipulator is put forward.Combined with the clamping characteristics of the forging manipulator,the mechanism design principle and structure design method of the constant force clamping device are studied,which improves the clamping performance of the forging manipulator and expands the clamping range of the forging manipulator.The stable clamping of forging manipulator for different types of forgings is realized.With the clamping force of the jaw as the basis for the structural design of the clamping device,the clamping force calculation model which allows the sag deflection of the forge piece is established by analyzing the contact state of the jaw and the forging piece,and combining with the actual application working condition of the forging manipulator.And finally,the clamping force of the jaw is calculated under the condition that the clamped forging is inclined downwards at a certain angle.The influence factors of the clamping force of the jaw are analyzed according to the formula of the clamping force of the jaw,and the structure design of the jaw is carried out from the two aspects of the jaw material and the jaw structure parameter in combination with the influencing factors.In this paper,the clamping principle and typical clamping condition of the clamping device are analyzed.Combined with the influence of the clamping device on the suspension system,on the basis of considering the force of the suspension system,the load of the clamping device is reduced and the load of the suspension system is made more reasonable.The overall arrangement of the clamping device is analyzed and determined.According to the different clamping requirements of shaft forgings and pie ring forgings,the force transfer ratio of the clamping mechanism is analyzed,and the constant force output is determined to be the precondition to achieve the stable clamping of different forgings.The key parameters of clamping mechanism are analyzed,and the design idea of constant force output clamping mechanism is defined.The structure of 300 KN clamp is optimized,and the optimum structure size h is determined.According to the clamp structure,the other key structure dimensions of 300 KNconstant force output clamping mechanism are determined.The structure design of other parts in the mechanism is carried out.The parameters of clamping cylinder are determined according to the overall arrangement of clamping device and the minimum stable clamping force of the mechanism.The stress analysis of clamping mechanism with minimum diameter forgings in different positions is carried out,and the rationality of the design is analyzed according to the stress distribution of each component in the mechanism.The feasibility of the design method of near constant force output clamping mechanism is determined.The position of the center of gravity in different attitude of the clamping device is detected and analyzed,and the method of changing the position of the center of gravity is studied.