Study On Buffering Principle And Dynamic Characteristics Of Heavy-load Forging Manipulator

In large forgings manufacturing, heavy-load forging manipulator which is the basicand widely used equipment directly affects manufacturing accuracy and machiningquality. With the increasing large forging requirements in the large equipment industry,the technology of forging manipulator arouses more and more countries’ attention. Inthis situation, the research of basic disciplines and key technologies of heavy-loadmanipulator has great significance to promote our country ability and level ofequipment manufacturing industry. The basic motions of manipulator include walkingthe cart, motioning the clamp arm, clamping the workpiece and buffering, are realizedin the lifting and the forging conditions. As workpiece will produces elastic and plasticdeformation in short time under the forging process, the impact load is caused, and thenit will be transferred to tong head, clamp arm, hanging institutions and so on, and beconsumed through buffering system in the end. The bigger the workpiece and the higherforging speed, the more obvious impact load will be, and the manipulator is most likelyto be destroyed. Thus, the ability of manipulator to comply with impact load is the keyfor assuring that the manipulator can work in good conditions and ensure the runninglife. The mainly contributions of this research of manipulator for the forging andbuffering process are listed as follows:①The forging condition and the buffering movement for manipulator have beenanalyzed in vertical and horizontal directions, respectively, and then, the kinematicdiscipline of clamp under the impact load through studying the deformation process ofworkpiece.②The rigid-body dynamic model of the lifting structure has been set up based onthe kinematics and dynamics analysis of manipulator, and the dynamic model ofhydraulic buffering system has been established by means of classic equivalent method.The influence of hydraulic parameter on dynamic characteristic of buffering movementwas studied by means of solving the models.③based on the dynamic equations, to combine with Adams code and Matlab code,a co-simulation model of manipulator was given. By doing the numerical calculation,the result of simulation analysis of typical forging condition gave a basis for the coupleddesign of mechanical system and hydraulic system and the hydraulic control strategy.④Abaqus code was used to build the multi-body FEM model of whole manipulator, and this model has described different topologies for forging process. Thereaction forces of all components by calculating model for different conditions ofhydraulic cylinders, provided consultation of design and optimization of parts.According to these researches mentioned above, the buffering mechanism and thedynamic behavior of forging manipulator during forging process have been analyzed indetail, and the result of analysis could provide guidance and technical support forfurther research work.