Mechatronic Hydraulic Co-simulation Study Of Forging Manipulator’s Cart Walking And Clamp Lifting

As the most important auxiliary tool in forging production process,forging manipulator plays an important role in improving the quality and production efficiency of forging.As the forging manipulator is a heavy equipment,the cost of trial production is high,and the design error will lead to serious waste of funds.Therefore,with the progress of science and technology,co-simulation technology is usually used to establish virtual prototypes in the process of optimization design of forging manipulator products,and it is tested in various virtual test environments,in this way,the kinematic characteristics of forging manipulator are studiedThis paper mainly studies the two main movements of 3T forging manipulator,namely,cart walking and clamp lifting,joint simulation software is adopted to establish the simulation model,can make the design personnel in the various virtual environment simulation of the forging manipulator movements,complete numerous simulation experiments equivalent to physical prototypes.Through joint simulation technology will be a new type of forging manipulator of mechanical system,hydraulic system and control system for coupling,and then build motion state of the virtual prototype simulation real system,and analysis and study on the part of the performance of the product can effectively shorten the product development cycle,improve the level of design,reduce the manufacture cost.The main contents of this paper are as follows:(1)Finite element simulation analysis of pin gear and pin shaft in the process of truck walking and clamp lifting movement,analysis of kinematic characteristics of each actuator,and establishment of 3T forging manipulator cart walking and clamp lifting system indicators.The three dimensional geometric model of forging manipulator was constructed,and the simulation model of truck walking and clamp lifting mechanical system was established,and the kinematic simulation analysis was carried out to verify whether the simulation model of mechanical system was correct.(2)The working principle of cart walking and clamp lifting hydraulic system is analyzed,and the mathematical models of truck walking valve-controlled hydraulic motor and clamp lifting valve-controlled asymmetric hydraulic cylinder are established respectively.And the key hydraulic components in the hydraulic system such as electro-hydraulic proportional reversing valve,accumulator and filter are analyzed.Finally,the modeling of the truck walking and clamp lifting hydraulic system is completed.(3)Based on the fuzzy PID control strategy,design the truck walking control system,create the interface of data exchange and communication between each subsystem model and the co-simulation platform,and build the electromechanical hydraulic co-simulation model of the truck walking and clamp lifting system.(4)The simulation experiment of the established simulation model is carried out to study the influence of different working conditions,control strategies,loads,hydraulic components and other factors on the forging manipulator,which can provide simulation experiments for improving the performance of forging manipulator and structural optimization design;By analyzing the co-simulation results,it can be seen that the established co-simulation model meets the requirements of the forging manipulator’s truck walking and the clamp lifting system,the co-simulation model of the forging manipulator’s truck walking and the clamp lifting system is reasonable,and the co-simulation of the forging manipulator is feasible.