Research on the Rigid-flexible Coupling Laws of the Dual Forging Manipulators Hanging System
Considering the lack of a theoretical solution for the traditional rigid assumption in the hanging system of dual forging manipulators,this study uses two 2-ton forging manipulators as research objects.It proposes and establishes a rigid-flexible coupling mechanism model of the hanging system,taking into account the elastic deformation of high-temperature forgings and the stiffness of the hydraulic system.The study analyzes the variation of local stiffness with characteristic parameters and examines the effect of the rigid-flexible coupling on the motion behavior at the clamping end of the dual forging manipulators hanging system.The results show that the stiffness of the forging decreases with a decline in the elastic modulus,and under the same elastic modulus,the forging tends to deform in the Y direction.When the accumulator is not engaged,the hydraulic stiffness is 2.85 ×108 N/m.When the accumulator is engaged,the hydraulic stiffness ranges from 6.7 ×105～7.8 ×105 N/m.If the buffer system is absent,the synchronous lifting trajectories of the dual manipulators are symmetrically distributed,causing dragging on the forging.When the buffer system is present,regardless of whether the accumulator is engaged,the synchronous lifting trajectories are parallel,and the dragging disappears.
万方数据
维普
