锻造操作机提升机构设计方法

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基于螺旋理论并结合工程实际对锻造操作机的构型设计进行系统、深入的研究,构造多种串并联形式的混联结构锻造操作机提升机构构型。这些锻造操作机提升机构的升降和俯仰运动采用平面五杆机构实现,侧移运动采用一种典型DANGO＆DIENENTHAL（DDS）锻造操作机的侧移系统实现,大车前进方向的移动和侧摆由悬挂系统实现。所以这些锻造操作机提升机构解耦性能高,均为实际应用中可以考虑的构型。根据实际工程经验可知,锻造操作机的悬挂系统为由前悬挂部分和后悬挂部分组成的并联机构,前悬挂部分由两根对称的悬挂杆组成,后悬挂部分由单根悬挂杆或两根对称的悬挂杆组成。将悬挂并联机构型综合分为后悬挂部分含单根悬挂杆和两根悬挂杆两种情况进行讨论,采用基于螺旋理论的约束综合法,构型得到了四种悬挂并联机构构型,其中三种构型为无过约束机构,应用前景广泛。 Type synthesis of forging manipulators is studied deeply and systematically based on the screw theory and practical engineering,several hybrid serial-parallel forging manipulators＇s lifting mechanisms are configurated.Lifting and pitching motions of these lifting mechanisms are realized by the planar five-bar mechanism,lateral translation is realized by the lateral translation system of a typical DANGO DIENENTHAL（DDS） forging manipulator,and motions of yawing and back-and-forward translation are realized by suspension system.Therefore,these lifting mechanisms are decoupled and can be given consideration in practical application.According to practical engineering experience,it is known that the suspension system is the parallel mechanism composed of forward suspension part and back suspension part.And forward suspension part contains two symmetrical suspension rods,back suspention part contains either one suspension rod or two symmetrical rods.Therefore,type synthesis of the forging manipulators can be divided into two situations corresponding to the number of the rods that back suspension part contains.Then,four configurations of the parallel mechanism are obtained by using the constraint-synthesis method based on the screw theory,and three of them are non-overconstrained mechanisms,which has extensive application prospect.