摆杆式锻造操作机悬挂机构的力学特性研究

doi:10.3901/JME.2025.01.232

摘要/Abstract

摘要： 锻造操作机具有大惯量，强冲击的特点，因此对操作机各构件的受力特点的研究是十分有必要的。为研究缓冲缸与平升缸之间的受力关系问题，对悬挂机构进行了运动分析以求解各构件的位置，建立了钳杆位移和两缸位移的映射关系；采用传统受力方法对悬挂机构各杆件进行分析，建立了缓冲缸与平升缸的力学模型；利用MATLAB分析了各参数对两缸受力变化的作用规律；在上述研究的基础上，选择粒子群算法对关键参数进行了优化得到满足条件的非劣解集，并采用逼近理想解排序法从非劣解集中寻求最优解。优化结果表明合理选择参数可以有效减小平升缸受力，改变缓冲缸对平升缸的受力影响，该结论为进一步优化缓冲缸的缓冲性能提供一种可行思路，对提高操作机力承载性能、降低能耗具有重要意义。

关键词: 锻造操作机, 平升缸, 缓冲缸, 受力特性, 参数优化

Abstract: The forging manipulator has the characteristics of large inertia and strong impact, so it is necessary to study the force characteristics of each component of the manipulator. In order to study the force relationship between the buffer cylinder and the horizontal cylinder, the motion analysis of the suspension mechanism was carried out to solve the position of each rod, and the mapping relationship between the displacement of the clamp rod and the displacement of the two cylinders is established. The traditional force analysis method is used to analyze rods of the suspension system, and the force model of the buffer cylinder and the horizontal cylinder is established. The effect of each parameter on the force change of the two cylinders are analyzed by MATLAB. On the basis of the above research, the Particle Swarm Optimization is selected to optimize the key parameters to obtain the set of non-inferior solution that meets the conditions, and the optimal solution are sought from the set by the Technique for Order Preference by Similarity to Ideal Solution. The optimization results show that the reasonable selection of parameters can effectively reduce the force of the lifting cylinder and change the influence of the buffer cylinder on the force of the lifting cylinder. The result provides a feasible idea for further optimizing the buffer performance of the buffer cylinder, which is of great significance for improving the force bearing performance of the manipulator and reducing energy consumption.

Key words: forging manipulator, lift cylinder, buffer cylinder, force characteristic, parameters optimization

中图分类号:

TG315

张苗苗, 刘艳妍, 杨晋, 杨晓波, 张起樑. 摆杆式锻造操作机悬挂机构的力学特性研究[J]. 机械工程学报, 2025, 61(1): 232-242.

ZHANG Miaomiao, LIU Yanyan, YANG Jin, YANG Xiaobo, ZHANG Qiliang. Study on Mechanical Properties of Suspension Mechanism in Oscillating-bar Forging Manipulator[J]. Journal of Mechanical Engineering, 2025, 61(1): 232-242.

参考文献

[1] 万胜狄，王运赣，沈元彬. 锻造机械化与自动化[M]. 北京：机械工业出版社，1983. WAN Shengdi，WANG Yungan，SHEN Yuanbin. Forging mechanization and automation[M]. Beijing: Machinery Press，1983.
[2] 高峰，郭为忠，宋清玉. 重型制造装备国内外研究与发展[J]. 机械工程学报，2010，46(19)：92-107. GAO Feng，GUO Weizhong，SONG Qingyu，et al. Current development of heavy-duty manufacturing equipments[J]. Journal of Mechanical Engineering，2010，46(19)：92-107.
[3] 姚静，李瑶，翟富刚，等. 拔长工艺中锻造操作机液压系统能耗分析[J]. 中国机械工程，2019，30(4)：385-392. YAO Jing，LI Yao，ZHAI Fugang，et al. Energy dissipation analysis of forging manipulator hydraulic systems in stretching processes[J]. China Mechanical Engineering，2019，30(4)：385-392.
[4] 翟富刚，赵桂春，魏立忠，等. 基于矩阵回路的锻造操作机能量回收及控制参数的设计方法[J]. 中国机械工程，2019，30(14)：1688-1695. ZHAI Fugang，ZHAO Guichun，WEI Lizhong，et al. Energy recovery and control of forging manipulators based on matrix circuit[J]. China Mechanical Engineering，2019，30(14)：1688-1695.
[5] 童幸，高峰，张勇. 操作机主运动机构的解耦性研究[J]. 机械工程学报，2010，46(11)：14-20. TONG Xing，GAO Feng，ZHANG Yong. Research on decoupling performance of major-motion mechanism for forging manipulators[J]. Journal of Mechanical Engineering，2010，46(11)：14-20．
[6] 许允斗，赵永生. 3种锻造操作机主运动机构受力比较分析[J]. 机械设计，2012，29(7)：38-42. XU Yundou，ZHAO Yongsheng. Force comparative analysis of three mechanisms of forging manipulator [J]. Journal of Machine Design，2012，29(7)：38-42．
[7] 许允斗，滕志程，郭江涛，等. 基于遗传算法的锻造操作机缓冲机构尺度优化[J]. 燕山大学学报，2016, 40(3)：202-206. XU Yundou，TENG Zhicheng，GUO Jiangtao，et al. Dimension optimization of buffering mechanism of forging manipulator based on genetic algorithm[J]. Journal of Yanshan University，2016，40(3)：202-206.
[8] 许允斗，姚建涛，赵永生. 基于螺旋理论的锻造操作机构型综合[J]. 中国机械工程，2011，22(13)：1540-1545. XU Yundou，YAO Jiantao，ZHAO Yongsheng. Type synthesis of forging manipulators based on screw theory[J]. China Mechanical Engineering，2011，22(13)：1540-1545.
[9] 孙文杰，李刚. 基于综合操作性能指标的操作机多目标优化[J]. 机械工程学报，2014，50(17)：52-60. SUN Wenjie，LI Gang. Multi-objective optimization of manipulator based on comprehensive operation performance index[J]. Journal of Mechanical Engineering，2014，50(17)：52-60.
[10] DING Huafeng，FENG Zemin，HUO Lixia，et al. Performance comparison of major-motion mechanisms of three forging manipulators-science direct[J]. Mechanism and Machine Theory，2019(139)：270-283.
[11] CHEN Kang，MA Chunxiang，ZHENG Maoqi，et al. Optimization and mechanical accuracy reliability of a new type of forging manipulator [J]. Chinese Journal of Mechanical Engineering，2015，28(2)：236-248.
[12] 杨文玉，孟富明. 锻造操作机顺应性能评价与优化方法[J]. 机械工程学报，2010，46(23)：121-127. YANG Wenyu，MENG Fuming. Evaluating and optimization method of forging manipulator compliance[J]. Journal of Mechanical Engineering，2010，46(23)：121-127.
[13] ZHAI Fugang，KONG Xiangdong，AI Chao，et al. Multi-field co-simulation research on suspension system of forging manipulator based on virtual prototype technology[J]. Advanced Materials Research，2010(97-101)：3174-3178.
[14] GE Hao，GAO Feng. Type design for heavy-payload forging manipulators[J]. Chinese Journal of Mechanical Engineering,2012，25(2)：197-205.
[15] 杨晓波，刘艳妍，杨晋，等. 平行连杆式操作机悬挂系统刚度与阻尼参数研究[J]. 中国机械工程，2016，27(23)：3130-3135. YANG Xiaobo，LIU Yanyan，YANG Jin，et al. Study on stiffness and damping parameters of parallel link-manipulator's suspension system[J]. China Mechanical Engineering，2016，27(23)：3130-3135．
[16] 刘文广，冯婷，史青，等. 锻造操作机行走系统液压冲击振动及定位控制[J]. 锻压技术，2019，44(12)：99-103+121. LIU Wenguang，FENG Ting，SHI Qing，et al. Hydraulic shock vibration and positioning control for forging manipulator walking system[J]. Forging ＆ Stamping Technology，2019，44(12)：99-103+121.
[17] 刘锋，黄长征，罗昕，等. 大惯量负载回转液压系统启制动平稳性的实验研究[J]. 液压与气动，2017，305(1)：89-93. LIU Feng，HUANG Changzheng，LUO Xin，et al. Experimental study on start-up and braking stability for large inertia load slewing hydraulic system[J]. Chinese Hydraulics＆Pneumatics，2017，305(1)：89-93.
[18] 赵春玲，薛飞，史青，等. 双向缓冲缸对锻造操作机行走机构特性影响的分析研究[J]. 锻压装备与制造技术，2018，53(4)：27-30. ZHAO Chunling，XUE Fei，SHI Qing，et al. Analysis of the influence of bidirectional buffer cylinder on the walking mechanism characteristics of forging operator [J]. Forging Equipment and Manufacturing Technology，2018，53(4)：27-30.
[19] 高惠敏. 锻造操作机缓冲装置的配置[J]. 重型机械, 2010(S2)：249-251. GAO Huimin. Configuration of the forging operator buffer device [J]. Heavy Machinery，2010(S2)：249-251.
[20] 孔祥东，权凌霄，姚静，等. 基于力学分析的蓄能器数学模型建立及实验研究[J]. 液压与气动，2006(7)：31-34. KONG Xiangdong，QUAN Lingxiao，YAO Jing，et al. Accumulator is modeled on its stressing model and experiments research [J]. Chinese Hydraulics ＆ Pneumatics，2006(7)：31-34．
[21] LIU Deshi，LI Gang，SHANG Yonggang. Dynamic modeling and multi-objective optimization of forging manipulator during one forging stroke[J]. Mechanics Based Design of Structures and Machines: An International Journal，2012，40(2)：241-252.
[22] XU Yundou，LIANG Shupan，LU Ling，et al. Force capabilities analysis of a typical mechanism of forging manipulator using a modified scaling factor method[J]. Mechanisms and Robotic Systems，2013，1(2-3)：152-169.
[23] 于红英，唐德威，王建宇. 平面五杆机构运动学和动力学特性分析[J]. 哈尔滨工业大学学报，2007，39(6)：940-943. YU Hongying，TANG Dewei，WANG Jianyu. Analysis of the kinematic and dynamic characteristics of a planar five-bar mechanism[J]. Journal of Harbin Institute of Technology，2007，39(6)：940−943.
[24] 王万良，金雅文，陈嘉诚，等. 多角色多策略多目标粒子群优化算法[J]. 浙江大学学报(工学版)，2022，56(3)：531-541. WANG Wanliang，JING Yawen，CHEN Jiacheng，et al. Multi-objective particle swarm optimization algorithm with multi-role and multi-strategy[J]. Journal of Zhejiang University (Engineering Science)，2022，56(3)：531-541.
[25] YIN Hanlin，LI X R，GAO Yongxin. Relative Euclidean distance with application to TOPSIS and estimation performance ranking[J]. IEEE Transactions on Systems Man Cybernetics-Systems，2022，52(2)：1052-1064.
[26] 董玉颜，李永锋. 基于故障树分析与逼近理想解排序法的重卡车载信息系统界面设计[J]. 机械设计，2023，40(1)：141-147. DONG Yuyan，LI Yongfeng. Interface design of heavy lorry vehicle information system based on FTA and TOPSIS[J]. Journal of Machine Design，2023，40(1)：141-147.