重载锻造操作机夹持力研究  

Research of the Chucking Power of the Heavy-loaded Forging Manipulator

作　　者：刘艳妍[1] 杨晋[1] 陈超[1] 何琪功 姜峰 

机构地区：[1]兰州交通大学机电工程学院,兰州730070 [2]兰州兰石重工新技术股份有限公司,兰州730050

出　　处：《机械工程学报》2012年第4期66-71,共6页Journal of Mechanical Engineering

基　　金：国家科技支撑计划资助项目(2007BAF28B01)

摘　　要：对重载锻造操作机夹持力计算的重要性和困难性进行分析,指出钳口表面有别于一般意义上的机械手夹持面。并将夹持装置钳口与锻件接触面之间简化为钳口凸齿与锻件挤压槽的作用,提出一种夹持力计算的思路。根据使用工况,将钳口工作分为夹紧状态和夹持状态,阐述两种状态的工作特点和作用,建立工件夹持状态下的受力模型,计算夹持状态下钳口在水平和垂直两个位置时的夹持力。用放大系数修正后的夹持力确定钳杆夹紧液压缸输出力,实现夹紧状态时钳口与工件之间形成充分的凹凸齿作用,以保证钳口夹持状态时能够输出最大夹持力矩。结合钳口与工件接触表面的结构特点和作用,提出钳口凸齿设计的思路和原则。实例计算和虚拟样机仿真证明计算结果有效。Based on the importance and difficulties of the calculation of the chucking power of the heavy-duty forging manipulator,it is pointed out that the jaw＇s surface is different from the ordinary automatic hand＇s clamp face.A thread of the calculation of chucking power has been worked out basing on the simplification of the action between gripping mechanism＇s jaw and forging＇s contact surface to the action between jaw＇s crowned tooth and forging＇s extrusion groove.On the basis of the working condition,the operating conditions of the jaw have been separated into the clamping and the gripping condition.After peculiarity and effect of two conditions was discussed,a mechanical model of workpiece under the gripping condition has been formed and the chucking power of the jaw on both horizontal and vertical position are studied.With the gripping force corrected by the amplification factor,the output force of the claw-beam gripping hydro-cylinder can be set to actualize the concave-convex mechanism between the jaw and the workpiece under the clamping condition to make sure the maximum gripping moment can be reached under the gripping condition.Considering the construction peculiarity of the jaw and working piece＇s contact surface,the idea and principle of jaw＇s crowned tooth design has been worked out.The example calculation and the virtual prototype simulation prove that the calculation method is effective.

关 键 词：重载锻造操作机 夹持装置 夹持力 夹持液压缸 

分 类 号：TG315[金属学及工艺—金属压力加工]