锻压技术

多关节机器人驱动式锻压步进梁

英文标题：Forging walking beam driven by multi joint robots

作者：刘庆生曾琦姚宏亮刘波赵一冰

单位：北京机电研究所

关键词：步进梁锻压机器人驱动梁运动轨迹

分类号：TG315

出版年,卷(期):页码：2017,42(9):102-106

摘要：

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。

It was introduced the three development stages of the forging walking beam. By analyzing power source, structure characteristics and limitations of walking beam in every stage, the fourth generation walking beam was put forward, and its advantages were analyzed. Then, based on its characteristics of three-dimensional free trajectory and high positioning accuracy of multi-joint robots, the precise movement of forging parts were realized by robot moving. In addition, the trajectories of the traditional walking beams and multi-joint robots driven walking beam were analyzed, and the driving beam mechanical structure of the robot driven walking beam was designed. At the same time, the structure of the driving beam was analyzed by numerical simulation. Finally, a prototype verified the good synchronization, flexibility and adaptability of the walking beam driven by multi-joint robots.

基金项目：

刘庆生（1979），男，硕士，高级工程师 E-mail：kuailelqs@163.com

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