锻造操作机的运动学分析及整机设计

发布时间：2018-03-26 04:50

本文选题：锻造操作机　切入点：主运动机构　出处：《燕山大学》2014年硕士论文

【摘要】：大型锻造操作机是万吨锻造压机的重要配套设备，也是国家经济建设急需的重大机械装备之一，对加快自由锻造的生产节奏和提高锻件质量都有重要的意义。锻造操作机在实际生产过程中的工艺动作主要有升降、俯仰、夹钳旋转等运动，还有在工件受到压机锻压时的缓冲运动。本文结合锻造实际需求，对锻造操作机的机构运动学建模和性能分析中的若干关键问题进行了研究。具体研究内容如下：（1）研究了三种锻造操作机的主运动机构，其中两种是国际上常用机构，另一种是具有自主知识产权的新机构，建立并求解具有封闭解的非线性运动学模型，分析了给定输入时夹钳末端的输出轨迹和给定输出时驱动的输入变化。（2）研究了三种操作机主运动机构耦合性，根据雅可比矩阵，得出新型操作机的主运动机构是部分耦合的，而另外两种是完全耦合的。（3）研究了新型主运动机构的性能，建立了摆移机构的运动学模型，对新型操作机机构空间位置进行了分析。（4）研究了新型锻造操作机的设计原理，在给定的工作范围、额定夹持力及额定夹持力矩的情况下，通过受力分析定出主要构件的基本尺寸；根据操作机的运动学精度为目标进行了一些机构尺寸的优化；通过三维软件Solidworks对新型锻造操作机进行实体建模。（5）利用ADAMS/View对锻造操作机进行刚性的运动学仿真，，分别进行了提升、前后缓冲、俯仰、侧移和侧摆五种工况的仿真，并把仿真结果与理论计算进行了比较。
[Abstract]:The large forging operator is an important supporting equipment for the ten thousand ton forging press, and is also one of the most important mechanical equipment urgently needed in the national economic construction. It is of great significance to speed up the production rhythm of free forging and improve the quality of forgings. In the actual production process, the technological movements of forging operators are mainly lifting, pitching, clamp rotation and so on. In this paper, some key problems in the kinematics modeling and performance analysis of the forging machine are studied in combination with the actual forging requirements. The specific research contents are as follows:. In this paper, the main kinematic mechanisms of three kinds of forging manipulators are studied, two of which are commonly used in the world, the other is a new mechanism with independent intellectual property rights. A nonlinear kinematics model with closed solutions is established and solved. The output locus at the end of the clamp and the change of the driving input at the given input are analyzed. Based on Jacobian matrix, it is concluded that the main motion mechanism of the new type manipulator is partially coupled, while the other two are fully coupled. In this paper, the performance of the new type main motion mechanism is studied, the kinematics model of the pendulum mechanism is established, and the spatial position of the new type manipulator mechanism is analyzed. (4) the design principle of the new forging operator is studied. The basic dimensions of the main components are determined by force analysis under the given working range, rated clamping force and rated clamping moment. According to the kinematics accuracy of the manipulator, some mechanism dimensions are optimized, and the solid model of the new forging operator is built by using the three-dimensional software Solidworks. 5) the rigid kinematics simulation of forging operator is carried out by using ADAMS/View. The simulation results of lifting, front and rear buffering, pitch, lateral shift and side pendulum are respectively carried out, and the simulation results are compared with the theoretical calculation.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TG315

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