摆杆式操作机钳杆平升降缓冲刚度与阻尼研究

Buffering stiffness and damping in vertical lifting and dropping movements of the clamping-bar of an oscillating-bar forging manipulator

针对摆杆式锻造操作机钳杆吊挂系统的液压缸与蓄能器组合缓冲装置,以平升降运动为例,提出基于动力学理论分析获得缓冲刚度与阻尼的思路,据设备结构形式简化吊挂系统的物理模型,利用拉格朗日法分析平升降运动的动能及势能,建立吊挂系统平升降动力学模型。以50 kN操作机为例,在Matlab中求解动力学方程,获得缓冲装置刚度及阻尼对吊杆摆动角、工件质心位置、钳杆摆角的变化规律,分析刚度及阻尼对平升降运动的影响,提出确定缓冲装置刚度及阻尼的方法,为摆杆式锻造操作机缓冲装置油缸与蓄能器设计提供理论依据。

A buffer device, consisting of the combined unit of hydraulic cylinder and accumulator, was designed for alleviating the impact on the damping bar banging system of an oscillating bar forging manipulator. In order to determine the buffering stiffness and damping coefficient in the vertical lifting and dropping movement of the hanging system, theoretical dynamic analysis was carried out based on the simplified physical model of the equipment construction and the equation of movement derived by using Largrange method. Taking the 50 kN forging manipulator as an example, the influences of buffering stiffness and damping on the movement parameters, such as hanging bar's swing angle, workpiece centroid position, swing angle of clamping bar, etc. were analysed through sloving the dynamic equation by Metlab. Then, the effects of buffering stiffness and damping on the vertical lifting and dropping movement were clatified. The procedure of determining the buffer device' stiffness and damping was provided. This will give a theoretical base for designing the hydraulic cylinder and accumulator of buffer device.