平行连杆式锻造操作机吊挂系统的关键参数  

Key parameters on suspension system for parallel link-forging manipulator

作　　者：王志强 刘艳妍[1] 张起樑[1] 何琪功 Wang Zhiqiang;Liu Yanyan;Zhang Qiliang;He Qigong(School of Mechanical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Lanzhou LS Energy Equipment Engineering Research Co.,Ltd.,Lanzhou 730050,China)

机构地区：[1]兰州交通大学机电工程学院,甘肃兰州730070 [2]兰州兰石能源装备工程研究院有限公司,甘肃兰州730050

出　　处：《锻压技术》2022年第6期179-185,共7页Forging & Stamping Technology

基　　金：国家自然科学基金资助项目(51265022)。

摘　　要：针对平行连杆式锻造操作机吊挂系统关键参数的确定依据尚不完善的问题,基于锻造操作机末端执行器的输出状态,结合实际工况将吊挂系统的整体结构分为平升降、倾斜及缓冲机构,对应有平升降、倾斜及缓冲运动,通过分析各运动下的运动轨迹及受力状态,并将极端工况作为机构参数确定的约束条件,明确了各机构的影响因素,确定了相关参数。根据以上研究思路,理论分析计算了30 t操作机的吊挂系统,并与同类在用设备进行了比较分析。结果显示:30 t操作机的吊挂系统可以减少能耗、减缓前转臂负荷和更好地吸收振动冲击,验证了研究成果的可行性和实用性,为锻造操作机吊挂系统的结构设计和理论研究提供了一种可行的思路和方法。Aiming at the problem that the basis for determining the key parameters of suspension system for parallel link-forging manipulator was not perfect, based on the output state of end-effector for forging manipulator, combined with the actual working conditions, the overall structure of suspension system was divided into horizontal lifting, tilting and buffering mechanisms, corresponding to horizontal lifting, tilting and buffering movements, and the extreme working conditions were taken as the constraint conditions for determination of mechanism parameters by analyzing the motion trajectory and stress state under each movement. Then, the influence factors for each mechanism were identified, and the relevant parameters were determined. Furthermore, according to the above research ideas, the suspension system of 30 t manipulator was theoretically analyzed and calculated, and the similar equipment in use was compared and analyzed. The results show that the suspension system of 30 t manipulator reduces energy consumption, slows down the load of front swiveling arm and absorbs vibration and shock better, which verifies the feasibility and practicability of research result and provides a feasible idea and method for the structural design and theoretical research of suspension system for forging manipulator.

关 键 词：平行连杆式 锻造操作机 吊挂系统 主运动 机构参数 末端执行器 

分 类 号：TG315[金属学及工艺—金属压力加工]