一种完全解耦式锻造操作机机构

Completely decoupled mechanism of forging manipulator

提出了一种能实现升降运动与水平移动之间解耦的完全解耦式锻造操作机机构,该机构直接将Hoekens四连杆近直线输出机构输出端与钳杆中部相连,并在四连杆机构其中的一连杆中间安装水平缓冲缸。基于位置正解模型,分析了操作机分别只作升降和俯仰运动时钳杆末端的位置变化,结果表明:当操作机升降运动时,其产生的水平方向的耦合位移量在控制误差范围之内,可实现升降运动与水平方向移动的解耦;当操作机只作俯仰运动时,钳杆末端在竖直方向产生的位移几乎为零,在水平方向产生的位移也非常小,钳杆几乎是绕着钳杆末端定点转动的。

A completely decoupled mechanism of forging manipulator was proposed which could realize the decoupling between lifting and horizontal movement. The output position of Hoekens four-bar-linkage was nearly straight-line which was then connected to the gripper carrier, and horizontal buffer cylinder was installed into one of the links of the four-bar linkage. The end position changes of the gripper carrier when the manipulator only lifted or tilted was analyzed based on the forward position model of the mechanism. The results show that the coupling displacement along horizontal direction is within the error range while the manipulator only lifts and the decoupling between lifting and horizontal movement can be realized. Moreover, the end displacement of the gripper carrier along vertical direction is almost equal to zero, the horizontal displacement is also very small and the gripper carrier rotates around the fixed end of the carrier while the manipulator only tilts.