锻压技术

新型液压双边滚切剪机构数学模型的建立与验证

英文标题：Establishing and verification of mathematical model for new hydraulic bilateral rolling shear mechanism

作者：韩贺永乔永杰李佳黄庆学

单位：太原科技大学

分类号：TG333.2+1

出版年,卷(期):页码：2018,43(1):124-128

摘要：

基于空间复合连杆机构的运动学分析理论，提出一种新型液压双边滚切剪剪切机构的滚动剪切数学模型，以纯滚动剪切为目标，设定导向杆与刀架的铰接点为基础点，分别建立剪切机构的正、逆运动学数学模型，结合3-RRR平面并联机构的运动学研究方法，应用两个坐标系间的位置关系，确定伺服液压缸与上刀架两者之间的过渡矩阵，进而推导出伺服液压缸位移与上刀架位姿之间的数学模型，实现了通过控制伺服液压缸活塞杆的位移实时调整上刀架的位姿功能，提高了剪切机构系统的运动控制精度。通过调整剪切机构数学模型的参数，反算获得滚动剪切不同步长钢板时伺服液压缸的位移参数，以便提高剪切机构纯滚动剪切质量，同时也为剪切设备提供了模型参数设计指导。

The mathematical model of shear mechanism for a new hydraulic bilateral rolling shear was put forward based on the kinematics theory of a hybrid spatial linkage mechanism, and the forward and inverse kinematics models of shear mechanism were established taking the pure rolling shear as the goal and the hinge points between guide rod and blade as the base points. Then, the transition matrix between servo hydraulic cylinder and upper blade was determined combining with the kinematic research method of 3-RRR planar parallel mechanisms and applying the positional relationship between two coordinate systems, and the mathematical model between the displacement of servo hydraulic cylinder and the position and posture of upper blade was deduced. Therefore, the position and posture of upper blade were adjusted by controlling the displacement of piston rod for the servo hydraulic cylinder in real time, and the motion control precision of the shearing mechanism system was improved. Furthermore, when the steel plate was sheared at different step sizes,the displacement parameters of servo hydraulic cylinder were obtained by inverse calculating based on adjusting parameters of the mathematical model for shear mechanism, and the quality of pure rolling shear for shear mechanism was improved. Thus, the model parameters were provided for the design of shearing equipment.

基金项目：

国家自然科学基金资助项目（51505315）

作者简介：韩贺永（1982－)，男，博士，副教授，E-mail：277921887@qq.com；通讯作者：乔永杰（1990－)，男，硕士研究生，E-mail：1508054163@qq.com

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