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介绍了锻压用步进梁发展所经历的3个阶段,通过分析每个阶段步进梁的动力来源、结构特点和局限性,提出了第4代步进梁,并分析了其优越性。第4代步进梁利用多关节机器人的三维空间自由轨迹和高定位精度的特点,通过机器人的运动来实现锻压工件精准步进。此外,对传统步进梁和多关节机器人步进梁的运动轨迹进行了分析,并设计了机器人驱动式步进梁的驱动梁的机械结构,同时利用数值模拟技术对驱动梁进行了结构分析。最后,通过试用样机验证了多关节机器人驱动式锻压步进梁良好的同步性、灵活性和适应性。
This paper introduces the three stages of development of forging walking beam. By analyzing the power sources, structural characteristics and limitations of walking beam in each stage, the fourth generation of walking beam is proposed and its superiority is analyzed. The fourth generation of walking beam using multi-joint robot’s three-dimensional space free trajectory and high positioning accuracy of the robot movement to achieve precision workpiece forging step. In addition, the trajectories of traditional walking beam and multi-joint robot walking beam are analyzed, and the mechanical structure of the driving beam of the robot-driven walking beam is designed. Meanwhile, the structure of the driving beam is analyzed by numerical simulation. Finally, the prototype of multi-joint robot-driven forging stepper beam verified the good synchronization, flexibility and adaptability.