CN114515809B - Quantitative control method for rotation cooperation of chuck of precision forging machine manipulator - Google Patents
Quantitative control method for rotation cooperation of chuck of precision forging machine manipulator Download PDFInfo
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- CN114515809B CN114515809B CN202210307125.3A CN202210307125A CN114515809B CN 114515809 B CN114515809 B CN 114515809B CN 202210307125 A CN202210307125 A CN 202210307125A CN 114515809 B CN114515809 B CN 114515809B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/10—Drives for forging presses
- B21J9/20—Control devices specially adapted to forging presses not restricted to one of the preceding subgroups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/085—Accessories for handling work or tools handling of tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/10—Drives for forging presses
- B21J9/12—Drives for forging presses operated by hydraulic or liquid pressure
- B21J9/14—Drives for forging presses operated by hydraulic or liquid pressure in conjunction with electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J9/00—Forging presses
- B21J9/10—Drives for forging presses
- B21J9/18—Drives for forging presses operated by making use of gearing mechanisms, e.g. levers, spindles, crankshafts, eccentrics, toggle-levers, rack bars
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of control systems of precision forging machines, and provides a quantitative control method for rotation cooperation of a chuck of a precision forging machine manipulator. The method comprises for each forging pass: inputting forging process parameters of a precision forging machine according to each forging pass; establishing a two-dimensional rectangular coordinate system, calculating the forging intermittence time of the hammer head, meeting the requirement of the chuck rotation speed, and selecting the chuck rotation speed; calculating an expected position function of the sliding sleeve of the worm moving along the axial direction through the hammer position change curve; the electro-hydraulic position servo working system drives the forge piece to rotate at a set constant speed under the control of an expected position function of the sliding sleeve so as to match with the forge piece for forging; and (4) the operation machines on the two sides are matched to feed on the guide rail until the forged diameter of the forge piece meets the requirement, and the current forging pass is finished. The invention avoids the rotation and distortion of the forging when the forging is pressed down by the hammer head; coordinating and finishing the forging process; the blank of controlling the fixed quantity of the chuck is made up.
Description
Technical Field
The invention relates to the technical field of control systems of precision forging machines, in particular to a quantitative control method for rotation cooperation of a chuck of a precision forging machine manipulator.
Background
The precision forging machine, also called radial forging machine abroad, is a large industrial precision forging device for hammering a central red hot forging to and fro by four hammers symmetrically distributed in a forging box, the complete machine comprises electrical, mechanical and hydraulic comprehensive technologies, and is one of the most advanced forging devices in the world. The world's precision forging machine is most typical of those produced by GFM of Austria. The GFM precision forging machine can be divided into a main machine, a rotary clamping chuck component, a hydraulic component, an electric control component and an auxiliary system according to functional modules. Because the GFM precision forging machine has higher forging precision and control precision, the GFM precision forging machine has incomparable advantages when processing special materials, and becomes key equipment of military units and key industries. The domestic precision forging machine has wide application in the fields of national defense war industry, aerospace, mechanical manufacturing and civil high-end forging process, such as metallurgy and the like. The method has outstanding effects in the fields of processing rifles and chambers of various artillery barrels and guns in the national defense and military industry, and high-strength axles of airplanes, high-speed rails, ships, automobiles and the like. In other fields, such as precision forging machines, the method can also be used for cogging high-strength and low-plasticity refractory metals.
The main machine forging box is positioned in the center of the machine, the two sides of the main machine forging box are provided with the operating machines, the operating machines are the most important control equipment of the precision forging machine, the power source for rotating the chuck of the operating machines, namely the motor, is arranged above the main machine forging box, the manipulator, namely the chuck, is arranged on one side of the main machine forging box, and the core-pulling oil cylinder and the feeding oil cylinder are arranged on the other side of the main machine forging box. The two chucks have the same structure and are used for realizing the clamping, rotating, indexing and braking movement of the workpiece to be forged. When the precision forging machine works normally, the forge piece rotates and feeds along the guide rail, and meanwhile, the four hammers in the central forging box perform pulse type forging on the forge piece at a certain forging frequency.
In the forging period that the hammer contacts the forging piece, the forging piece is tightly held by the hammer, and if the forging piece continues to rotate, the forging piece is necessary to be twisted due to the fact that the internal crystal structure is generated by hard dragging. The rotary control of the clamp of the GFM precision forging machine generally utilizes a worm gear and worm structure, utilizes a variable frequency motor to control the rotation speed of a worm, and utilizes a hydraulic system to realize the oscillating start-stop function of the rotation of the worm gear (clamp) through the movement of the worm.
Disclosure of Invention
In view of the above, the invention provides a quantitative control method for rotation cooperation of a chuck of a precision forging machine manipulator, which aims to solve the problem that rotation and distortion are generated when a forging piece is pressed down by a hammer head in the forging process of the forging piece, which cannot be overcome in the prior art.
The invention provides a quantitative control method for rotation cooperation of a chuck of a precision forging machine manipulator, which is divided into a plurality of forging passes aiming at the complete forging process of different forgings, and comprises the following steps for each forging pass:
s1, inputting forging process parameters of a precision forging machine for each forging pass;
s2, establishing a two-dimensional rectangular coordinate system, selecting a hammer forging time starting point and a position starting point, and calculating hammer forging intermittent time;
s3, calculating the requirement met by the chuck rotation speed based on the forging process parameters, and selecting the chuck rotation speed;
s4, based on the chuck rotation speed, calculating an expected position function of the sliding sleeve of the worm moving along the axial direction through a hammer position change curve;
s5, inputting the expected position function of the sliding sleeve into an electro-hydraulic position servo working system in an electric signal mode;
s6, the electro-hydraulic position servo working system enables the hammer head to forge the forge piece within the rotation stop time of the chuck under the control of the expected position function of the sliding sleeve, and the chuck drives the forge piece to rotate at a set constant speed during the forging interval of the hammer head so as to cooperate with the forge piece to complete forging;
s7, mutually matching the operating machines on the two sides to feed on the guide rail, and ending the current forging pass until the forged diameter of the forge piece meets the requirement.
Further, the forging process parameters of the precision forging machine comprise: the forging speed, the chuck rotation speed, the forged before-forging radius, the forged after-forging radius, the eccentric shaft radius, the eccentricity, the chuck lag angle, the sliding sleeve length, the chuck rotation driving motor speed, the reduction ratio on the belt, and the reduction ratio of the worm rotation converted to the worm wheel rotation.
Furthermore, the forging process of the forging system of the precision forging machine is carried out on the basis that four hammers in a forging box of a main machine of the precision forging machine push a connecting rod to reciprocate by means of eccentric motion of an eccentric shaft.
Further, the calculation formula of the hammer forging pause time in S2 is as follows:
T'＝T-T Δ
T Δ ＝T 1 +T 2
wherein T' is the hammer forging intermittent time, T is the reciprocal of the hammer forging period, namely the forging frequency, T Δ For a chuck rotation stop time interval, T 1 The time from the beginning of the hammer head contacting the forging to the time when the hammer head presses down to the maximum deformation of the forging is T 2 The rotation lag time set for avoiding damage caused by the contact of the forging and the hammer head is the time difference from the time when the forging generates the maximum deformation to the time when the forging recovers to rotate.
Further, said T 1 The obtaining of (1) comprises: establishing the two-dimensional rectangular coordinate system by taking the eccentric point A as the origin of coordinates (A)0, 0), when an eccentric point A is taken as a horizontal line and is taken as an X axis, when A is taken as a vertical line perpendicular to the X axis and is taken as a Y axis, when two points A and A1 are taken as a straight line, an angle formed by the straight line and the positive direction of the X axis is called an eccentric angle theta, a circle taking A1 as a center of circle and an eccentric shaft radius R as a radius is taken as an R circle, the R circle rotates anticlockwise around the eccentric point A, and then a point Q coordinate arbitrarily taken on the R circle is expressed by the following equation:
(x-acosθ) 2 +(y-asinθ) 2 ＝R 2
wherein x and y are respectively the abscissa and ordinate of the point Q, a is the eccentricity,
let y = asin θ, obtain the displacement of the R circle in the horizontal direction when the R circle makes a circular motion around the eccentric point a, where the displacement of the Q point in the horizontal direction is the displacement of the hammer head during forging in the horizontal direction, and then the change of the abscissa of the Q point reflects the change of the displacement of the hammer head during forging in the horizontal direction, and the change of the displacement of the hammer head during reciprocating forging in the horizontal direction is as follows:
x＝R+acosθ
wherein x belongs to [ R-a, R + a ], and x represents the displacement change of the hammer head in the horizontal direction;
the expression of the distance between the hammer head and the forging when the hammer head starts to contact the forging and presses down to the maximum deformation of the forging is as follows:
h＝(R+acosθ 1 )-(R-a)
＝acosθ 1 +a
wherein, theta 1 Is an obtuse angle, representing a determined eccentricity angle at a certain moment;
based on the distance between the position of the hammer head at the moment of starting to contact the forge piece and the position of the hammer head at the maximum deformation position of the forge piece, and the difference between the radius of the forge piece before forging and the set expected radius after forging, the following expression is obtained:
h＝R1-r
wherein R1 is the radius of the forged piece before forging, and R is the set desired radius after forging;
the expression and the expression of the distance between the position of the hammer head at the moment of starting to contact the forge piece and the position of the hammer head at the maximum deformation position of the forge pieceThe expression of the difference between the initial radius of the forged piece before forging and the set expected radius r after forging is equal, and theta is obtained 1 ；
Based on the fact that the forging frequency of the precision forging machine is kept unchanged after forging is started, the time T from the beginning of the contact of the hammer head with the forging to the time when the hammer head is pressed down to the maximum deformation of the forging is generated 1 The angular speed of rotation is kept constant during each forging and when the forging is rotated according to the R circle
And ω =2 π f, so Δ T = T is passed 1 After time, Δ θ = | θ 1 -π|＝ω×ΔT＝2πfT 1 To get T 1 Wherein f is the forging frequency of the precision forging machine after the forging is started and is in Hz.
Further, said T 2 Comprises the following steps:
based on that when the hammer head starts to retreat from theta = pi, the chuck can recover rotation after lagging by an angle of alpha degrees corresponding to the positive direction of a horizontal X axis, so that the vibration of the recovery rotation of the forge piece and the surface friction of the hammer head are avoided, and the lag time can be obtained according to the following formula:
the time from the beginning of pressing down the forging piece to the time from pressing down the hammer head to the nearest distance to the forging piece is T based on the fact that the hammer head contacts the forging piece and presses down the forging piece 1 When the hammer head returns from the position closest to the forge piece, the rotary lag time T is set for avoiding damage caused by contact between the forge piece and the hammer head in consideration of vibration generated when the forge piece recovers to rotate 2 And calculating the time interval of chuck rotation stop.
Further, the obtaining of the chuck rotation speed in S3 includes:
based on the angle of the forged piece rotated and the forged radius of the forged piece after each forging by the chuck, the relation of the shoulder formed after the forged piece is forged after two adjacent forgings by a single hammer is as follows:
wherein alpha is the angle of the rotating of the forge piece controlled by the chuck after each forging, r is the radius of the forged forge piece after forging, and H is the shoulder formed after the forge piece is forged after two adjacent forgings by a single hammer;
the main forging box of the precision forging machine is internally provided with four hammers which are 90 degrees in pairs and are symmetrically arranged in space, and two adjacent hammers generate shoulders after two adjacent times of forging, so that the relation of diameter errors caused by the shoulders on the surface of a forged piece is obtained as follows:
wherein epsilon is the diameter error of the surface of the forged piece caused by the shoulder after two adjacent times of forging,
based on the specification of the national standard of forged round steel on the allowable deviation of the diameter of the round steel, the relation between the diameter error caused by the shoulder on the surface of the forged piece and the diameter of the round steel is obtained as follows:
ε<0.02r
resolving to alpha <16.12 °
Since α also satisfies the following relation:
α＝v×360°/f
based on 360 degrees of rotation of the eccentric shaft in one circle, the forge piece rotates once, and if the degree of rotation of the chuck is 16.12 degrees every time the forge piece is forged, the rotation speed of the chuck is calculated to meet the following conditions:
v×360°/f<16.12°
wherein v is the chuck rotation speed in r/s;
based on the speed of the chuck rotation driving motor, the reduction ratio on the belt, the worm rotation is converted into the deceleration ratio of the worm wheel rotation, the worm wheel rotation is simultaneously the chuck rotation, and the chuck rotation speed is calculated by the following formula:
v＝k 1 ×k 2 ×n
wherein n is the speed of the chuck rotation driving motor and has the unit r/min, k 1 Is a beltUpper reduction gear ratio, k 2 The deceleration ratio of the worm rotation converted to the worm wheel rotation, v is the chuck rotational speed.
Further, the obtaining of the desired position function of the sliding sleeve in S4 includes:
according to the fact that theta is increased from 0 to 360 degrees, the hammer head performs periodic reciprocating motion from the farthest end away from the forge piece, the position of theta =0 is used as the initial position of the hammer head at the beginning of each forging operation, a coordinate system of the position change of the hammer head is established, and in one eccentric motion period, the position curve gamma of the hammer head motion is as follows:
Γ＝R+acosθ
＝R+acos(2πft)
use tup distance forging farthest end for starting 0 time point of forging to position when worm gear meshes completely is the curvilinear coordinate origin of sliding sleeve displacement, is sliding sleeve displacement direction along the level right direction, establishes sliding sleeve motion curvilinear space coordinate system, the tup distance the forging is farthest, works as the tup position is close to the forging gradually when doing into the hammer operation with sinusoidal law change, and the initial point position will be kept away from gradually to the sliding sleeve on the worm, and the displacement change of sliding sleeve also is sinusoidal, obtains the expectation position function of sliding sleeve as follows:
Γ'＝Z-Z×cos(2πft)
wherein Γ' is a function of the desired position of the sliding sleeve;
based on the position coordinate of the sliding sleeve, which is represented by the double value of Z and moves forward to the maximum stroke, the worm wheel and the worm are already separated and are not meshed any more, so that the chuck does not rotate any more when the hammer head presses down to the forge piece to achieve the maximum deformation, and the critical position of the sliding sleeve, which is moved forward to the moment when the hammer head starts to contact the forge piece when the hammer head enters the hammer, is half of the length of the sliding sleeve;
the length of the sliding sleeve is set to be L, and the forging period is set to be
Then there are:
wherein the value of t is:
taking k =0, the first forging cycle, Z can be calculated by:
furthermore, during the rotation stop period of the chuck, a hydraulic oil cylinder arranged at one end of the worm pushes the sliding sleeve to make reciprocating linear displacement, and the reverse pushing plays a role in accelerating the rotation recovery of the chuck.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the forging method, the forging piece is prevented from continuing to rotate when the hammer head is tightly held by the hammer head in the forging period when the hammer head is contacted with the forging piece, and the forging piece is twisted due to the fact that an internal crystal structure is generated due to hard dragging;
2. according to the invention, a worm gear and worm structure is generally utilized through rotation control of the clamp head of the GFM precision forging machine, the rotation speed of the worm is controlled through obtaining a variable frequency motor, the oscillatory starting and stopping function of the rotation of the clamp head is realized through the movement of the worm in a hydraulic system, and the forging process of the forge piece is completed in a coordinated manner.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed for the embodiment or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a quantitative control method for the rotation cooperation of a chuck of a precision forging machine manipulator provided by the invention;
FIG. 2 is a schematic diagram of the eccentric forging principle of the hammer head of the main machine provided by the invention;
FIG. 3 is a graph of the reduction versus the forging diameter provided by the present invention;
FIG. 4 is a diagrammatic view of the chuck rotation process during an adjacent forge process provided by the present invention;
fig. 5 is a principle of the rotation of the chuck of the precision forging machine provided by the invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
The following will explain in detail a quantitative control method of the rotation cooperation of the chuck of the precision forging machine manipulator provided by the invention with the accompanying drawings.
FIG. 1 is a flow chart of a quantitative control method for the rotation cooperation of a chuck of a precision forging machine manipulator provided by the invention.
Aiming at the complete forging process of different forgings, the forging process is divided into a plurality of forging passes, and each forging pass comprises the following steps:
s1, inputting forging process parameters of the precision forging machine aiming at each forging pass.
The forging process of the forging system of the precision forging machine is carried out based on that four hammers in a forging box of a main machine of the precision forging machine make eccentric motion by means of an eccentric shaft to push a connecting rod to reciprocate.
Wherein, the forging technological parameters of the precision forging machine comprise: the forging frequency, the chuck rotation speed, the forged piece before-forging radius, the forged piece after-forging radius, the eccentric shaft radius, the eccentricity, the chuck lag angle, the sliding sleeve length, the chuck rotation driving motor speed, the belt reduction ratio, and the deceleration ratio of the worm rotation to the worm wheel rotation.
The forging process of the forging system of the precision forging machine is carried out based on that four hammers in a forging box of a main machine of the precision forging machine make eccentric motion around an eccentric shaft to push a connecting rod to reciprocate.
When the time is gradually increased from 0, the center of mass of the sliding sleeve is gradually increased from (0, 0) according to a sine curve, and the position of the hammer head is gradually reduced from the horizontal maximum displacement position; when the hammer head starts to contact and forge and press a workpiece, when the center of mass position of the sliding sleeve horizontally moves to a position which is half of the length of the sliding sleeve, the worm wheel and the sliding sleeve start to separate, the chuck starts to stop rotating, then the chuck continuously increases along with time, the sliding sleeve continuously moves in the horizontal right direction, and the position of the hammer head continuously decreases; when the sliding sleeve moves forward to the horizontal right maximum limit position, the hammer head position also reaches the minimum limit position of the pressing stroke, the forge piece reaches the maximum deformation state, the sliding sleeve and the worm wheel can not be meshed to enable the chuck not to rotate any more, when the time continues to increase, the hammer head begins to do hammer withdrawing movement, the sliding sleeve also begins to retreat, and the reciprocating is carried out in this way, so that the forging process is completed.
S2, establishing a two-dimensional rectangular coordinate system, selecting a hammer forging time starting point and a position starting point, and calculating hammer forging intermittent time;
the mechanical transmission of the rotation of the forge piece is mainly realized by the inner sliding sleeve of the chuck. The power motor at the top of the manipulator continuously works in the forging process, the motor outputs torque through a shaft and is decelerated through a belt pulley to drive the coaxial worm to rotate, power is transmitted to the worm wheel through the worm and gear mechanism to drive the worm wheel to rotate, and the worm wheel is fixedly connected with the inner sliding sleeve to drive the inner sliding sleeve to rotate, so that the chuck is rotated.
The forging period, namely the reciprocal of the forging frequency f, is the time for the hammer head to press down and hold the forge piece, and the time is the sum of the time for the chuck to stop rotating and the time for the chuck to drive the forge piece to rotate along the radial direction.
The chuck rotation stop time interval is T Δ The time for the hammer head to contact the forging piece and press to the maximum deformation is T 1 The rotation lag time set for avoiding the damage of the blank when the hammer head is withdrawn is T 2 And (3) easy obtaining: and S2, calculating the hammer forging intermittent time according to the following formula:
T'＝T-T Δ
T Δ ＝T 1 +T 2 (1)
wherein T' is the hammer forging intermittent time, T is the reciprocal of the hammer forging period, namely the forging frequency, T Δ For chuck rotation stop time interval, T 1 The time from the beginning of the hammer head contacting the forging to the time when the hammer head presses down to the maximum deformation of the forging is T 2 The rotation lag time set for avoiding damage caused by the contact of the forging and the hammer head is the time difference from the time when the forging generates the maximum deformation to the time when the forging recovers to rotate.
The four hammers of the central forging box are separated from the contact of the forge piece to the separation of the hammers in the forging process, the forge piece is clamped by the chuck without rotation, and the time T is 1 The term "s" is related to the forging frequency f (unit r/s), the eccentricity a (unit m), and the rolling reduction h (unit m).
The forging process of the four hammers in the forging box of the main forging machine is based on eccentric motion of an eccentric shaft, and because the four hammers (which can be set as left, right, upper and lower hammers) in the forging box are symmetrically arranged at intervals of 90 degrees in space, the reciprocating forging process of the hammers on the right side is taken as an example, and is simplified, as shown in fig. 1, a circle (marked as an R circle and denoted as an eccentric shaft) with the circle center A1 and the radius of R makes anticlockwise rotation motion around an eccentric point A, the eccentric distance is a, and the hammers (shown in a left trapezoid) form reciprocating motion in the horizontal direction along with the eccentric rotation of the R circle, so that a pulse type forging process is formed. The displacement of the hammer head moving along the horizontal direction can be obtained by calculating the horizontal abscissa of a certain point coordinate on the R circle, and the specific calculation process is as follows:
fig. 2 is a schematic diagram of the eccentric forging principle of the main machine hammer head provided by the invention.
Obtaining of T1, comprising:
establishing the two-dimensional rectangular coordinate system, taking an eccentric point A as an origin of coordinates (0, 0), taking an eccentric point A as a horizontal line as an X axis, taking an A vertical line perpendicular to the X axis as a Y axis, taking two points A and A1 as a straight line, wherein an angle formed by the straight line and the positive direction of the X axis is called an eccentric angle theta, taking the A1 as a circle center, taking a circle with an eccentric shaft radius R as a radius as an R circle, and taking the R circle to rotate anticlockwise around the eccentric point A, wherein a point Q coordinate on the R circle is expressed by the following equation:
(x-acosθ) 2 +(y-asinθ) 2 ＝R 2 (2)
wherein x and y are respectively the abscissa and ordinate of the point Q, a is the eccentricity,
let y = asin θ, obtain the displacement of the R circle in the horizontal direction when the R circle makes a circular motion around the eccentric point a, and the displacement of the Q point in the horizontal direction is the displacement of the hammer head during forging in the horizontal direction, and then the change of the abscissa of the Q point reflects the change of the displacement of the hammer head during reciprocating forging in the horizontal direction, and then the displacement change of the hammer head during reciprocating forging in the horizontal direction is as follows:
x＝R+acosθ (3)
wherein x belongs to [ R-a, R + a ], and x represents the displacement change of the hammer head in the horizontal direction;
the positive direction of an x axis of a coordinate system is taken as a hammer head retraction direction, the negative direction is a pressing direction, an R circle rotates around A in a counterclockwise direction for analysis, when theta =0+2k pi, (k =0,1, 2L) is carried out, the hammer head is located at the rightmost side of the x axis at the position farthest from a forge piece, when theta = pi +2k pi, (k =0,1, 2L) is carried out, the hammer head is pressed down to contact with the forge piece to be forged to the maximum forging amount, the forge piece is located at the maximum deformation position at the moment, and the range of displacement of the hammer head in the horizontal direction (namely the stroke of the hammer head in one forging cycle) in the coordinate system is obtained
Wherein x represents the displacement change of the hammer head in the horizontal direction;
the expression of the distance between the position of the hammer head at the moment of starting to contact the forging piece and the position of the hammer head at the maximum deformation position of pressing down the forging piece is as follows:
the position of the hammer head at the moment of starting to contact the forge piece is taken as a certain specific theta corresponding to the abscissa of a reference point Q on the R circle representing the horizontal displacement change of the hammer head 1 The distance from the position where the hammer head is pressed down to the maximum deformation of the forging (corresponding to θ = pi +2k pi, (k =0,1, 2l)) is, in consideration of the horizontal right coordinate system, as follows for making the distance positive:
wherein, is an obtuse angle, representing a determined eccentric angle at a certain moment;
FIG. 3 is a graph of the relationship between reduction and forging before and after forging diameter provided by the present invention.
Based on the distance between the position of the hammer head at the moment of starting to contact the forge piece and the position of the hammer head at the maximum deformation position when the hammer head is pressed down to the forge piece, and the difference between the radius of the forge piece before forging and the set expected radius after forging, the following expression is obtained:
h＝R1-r (5)
wherein R1 is the initial radius of the forged piece before forging, and R is the set expected radius after forging;
the expression of the distance between the position of the hammer head at the moment of starting to contact the forge piece and the position of the hammer head pressed down to the maximum deformation of the forge piece is equal to the expression of the difference between the initial radius of the forge piece before forging and the set expected after-forging radius r, namely the expression (4) is equal to the expression (5), and then theta is obtained 1 。
Based on the fact that the forging frequency of the precision forging machine is kept unchanged after forging is started, the time T from the beginning of the contact of the hammer head with the forging to the time when the hammer head is pressed down to the maximum deformation of the forging is generated 1 The angular speed of rotation is kept constant during each forging and when the forging is rotated according to the R circle
And ω =2 π f, so Δ T = T is passed 1 After time, Δ θ = | θ 1 -π|＝ω×ΔT＝2πfT 1 To get T 1 Wherein f is the forging frequency of the finish forging machine after the start of forging, in Hz, and then T 1 And (5) obtaining the product.
Obtaining of T2, comprising:
when the hammer head starts to retreat from theta = pi, the chuck lags behind by alpha corresponding to the positive direction of the horizontal X axis. The angle can be recovered to rotate to avoid the vibration and the surface friction of the hammer head of the forge piece recovered to rotate, and the lag time can be obtained according to the following formula:
based on the time T from the time when the hammer contacts the forging and presses down the forging to the time when the hammer presses down to the nearest distance to the forging 1 And setting a rotation lag time T for avoiding damage caused by the contact of the forging and the hammer head when the hammer head retreats from the position closest to the forging and considering the vibration generated when the forging recovers to rotate when the hammer head retreats from the position closest to the forging 2 And calculating the time interval of chuck rotation stop.
The method is realized by adopting an empirical method as follows: the engineer finds out theta empirically 2 And theta 3 Included angle
Value of (e.g. theta) 2 ＝150°，θ 3 An included angle of 210 DEG is
) Suppose when the hammer head is at θ = θ 2 The forging is started to contact the forging piece for forging at the condition that theta = theta 3 The hammer head begins to separate from the forging piece in the process of returning, and obviously theta is from theta 2 Start to theta 3 In the process, the four hammers are in a state of contacting and forging the forged piece, and the time consumed in the process is the time interval T between the stop time of the rotation of the chuck Δ The following equation is used to obtain:
s3, calculating the requirement met by the chuck rotation speed based on the forging process parameters, and selecting the chuck rotation speed;
FIG. 4 is a diagrammatic view of the chuck rotation process during an adjacent forge process provided by the present invention.
And S3, acquiring the rotation speed of the chuck, including:
based on the angle of the forged piece rotated and the forged radius of the forged piece after each forging by the chuck, the relation of the shoulder formed after the forged piece is forged after two adjacent forgings by a single hammer is as follows:
wherein alpha is the angle of the rotating of the forge piece controlled by the chuck after each forging, r is the radius of the forge piece after forging, and H is the shoulder formed after the forge piece is forged after two adjacent forgings by a single hammer head;
the main forging box of the precision forging machine is internally provided with four hammers which are 90 degrees in pairs and are symmetrically arranged in space, and two adjacent hammers generate shoulders after two adjacent times of forging, so that the relation of diameter errors caused by the shoulders on the surface of a forged piece is obtained as follows:
wherein epsilon is the diameter error of the surface of the forged piece caused by the shoulder after two adjacent times of forging,
based on the specification of the national standard of forged round steel on the allowable deviation of the diameter of the round steel, the relation between the diameter error caused by the shoulder on the surface of the forged piece and the diameter of the round steel is obtained as follows:
ε<0.02r (10)
the solution is obtained by dissolving the raw materials,
α<16.12° (11)
since α also satisfies the following relation:
α＝v×360°/f
based on the eccentric shaft rotating 360 degrees in one circle, the forging rotates once, and if the degree of chuck rotation is 16.12 degrees every time the forging is performed, the conditions that the chuck rotation speed v (unit r/s) should satisfy are calculated as follows:
v×360°/f<16.12° (12)
wherein v is the chuck rotation speed in r/s;
based on the speed of chuck rotation driving motor, the speed reduction ratio on the belt, worm rotate and convert to worm wheel pivoted speed reduction ratio, and worm wheel rotates and is the chuck rotation simultaneously, then the computational formula of chuck rotation speed is as follows:
v＝k 1 ×k 2 ×n (13)
wherein n is chuck rotation driving motorSpeed of (d), unit r/s, k 1 Is a reduction ratio, k, on the belt 2 The deceleration ratio of the worm rotation converted to the worm wheel rotation, v is the chuck rotational speed.
S4, based on the chuck rotating speed, calculating an expected position function of the sliding sleeve of the worm moving along the axial direction through a hammer position change curve;
fig. 5 is a view illustrating the operation principle of the rotation of the chuck of the finish forging machine provided by the present invention.
Starting from the contact of the hammer head of the precision forging machine with the forge piece, if the chuck keeps continuous rotation in the forging process, the torsion of the forge piece or the rigid damage of a mechanical transmission system is inevitably caused, which is not allowed for products and mechanical systems, how to control the chuck to drive the forge piece to rotate and avoid the process that the hammer head presses the forge piece simultaneously is the work of a chuck rotation cooperation control system.
The system is mainly used for braking of a forge piece in the forging process and energy caching generated by continuous rotation of a main motor, the braking process is substantially completed within the minimum range of the rotation speed of a worm gear and is not completely stopped, the worm gear is compensated by moving the axial position of a worm, a chuck is fixedly connected with the worm gear, the rotation of the worm gear, and the chuck can rapidly perform rotary oscillation starting and stopping actions under the condition that an operator power motor is not stopped, so that the system adapts to the working condition of rapid forging of a precision forging machine. Generally, the use of a common motor start-stop scheme is not favorable for the service life of the motor, and cannot meet the requirement of high-frequency forging.
In order to match the high-frequency forging of the hammer head, the oscillation start-stop control principle of the rotation of the chuck of the precise forging machine is shown in fig. 5.
The precision forging machine is in the course of the work, chuck centre gripping forging is at the uniform velocity and is fed along the guide rail, when forging solid of revolution cross-section forging, the contact moment of tup and forging, the forging must stop rotating, for realizing high forging frequency, the worm that the motor drove is rotating with the constant speed all the time in the forging process, so be provided with hydraulic cylinder in non-fixed position worm one end and be used for promoting the sliding sleeve on the worm and do reciprocal linear displacement, realize worm wheel stall in the short time, and reverse promotion more can play the acceleration effect when the chuck rotation resumes.
Specifically, a servo valve drives a hydraulic cylinder to push a sliding sleeve on a worm to do horizontal frequent reciprocating motion by taking the central axis of the worm as a reference, the speed of the worm in the horizontal direction is the speed of the sliding sleeve in the axial direction, when the sliding sleeve moves to the central position, a worm wheel is meshed with the worm, as the left worm does uninterrupted uniform rotation motion under the drive of a motor through a belt pulley, at the moment of meshing of the worm wheel and the worm, the worm wheel rotates by a certain angle, the rapid rotation of the worm wheel, namely a chuck is completed, so that the continuous uniform motion of the worm can be changed into frequent starting and braking motions of the chuck (worm wheel), namely the rotation speed is ceaselessly changed along with hammer forging, and the cooperation effect is achieved. The start and stop of the oscillation of the gripping head are thus matched to the two-way movement of the hydraulic cylinder.
According to the above, the rotation cooperation of the chuck is only related to the displacement curve of the sliding sleeve, the position control of the sliding sleeve is the key, and the movement curve of the hammer head needs to be analyzed in order to obtain the expected position curve of the sliding sleeve.
Obtaining a desired position function of the sliding sleeve in S4 comprises:
as can be seen from figure 2 and equation (2),
according to the principle that theta increases from 0 to 360 degrees, the hammer head performs periodic reciprocating motion from the farthest end away from a forging piece, the position of theta =0 is used as the initial position of the hammer head at the beginning of each forging operation, a coordinate system of hammer head position change is established, and in one eccentric motion cycle, a position curve gamma of the hammer head motion is as follows:
use the tup apart from the forging farthest end for starting 0 time point of forging, position when meshing completely with the worm gear also be the coordinate origin of sliding sleeve centre of mass position as sliding sleeve displacement curve, be sliding sleeve displacement direction along the level right direction, establish sliding sleeve motion curve's space coordinate system, the tup is farthest away from the forging, when the tup position with sinusoidal law change do into the forging when hammering the operation gradually, the initial point position will be kept away from gradually to the sliding sleeve on the worm, the displacement change of sliding sleeve also is sinusoidal, obtain the expectation position function of sliding sleeve as follows:
Γ'＝Z-Z×cos(2πft) (15)
where Γ' is a function of the desired position of the sliding sleeve.
Based on the position coordinate of the Z double value representing that the sliding sleeve moves forward to the maximum stroke, the worm gear and the worm are already separated and are not meshed, so that the chuck does not rotate any more when the hammer head presses down to the forge piece to achieve the maximum deformation, the maximum deformation is obtained by the hammer head forging intermission time and the length of the sliding sleeve, and the analysis shows that the optimal condition is that the sliding sleeve moves forward to the critical position of meshing and non-meshing of the worm gear and the worm when the hammer head starts to contact the forge piece during hammer feeding, and the critical position is half of the length of the sliding sleeve;
the length of the sliding sleeve is set as L, and the forging period is set as
Then there are:
wherein the value of t is:
taking k =0, the first forging cycle, Z can be calculated by:
when the time t is gradually increased from 0, the position of the center of mass of the sliding sleeve is gradually increased from (0, 0) according to a sine curve, and the position of the hammer head is gradually reduced from (R + a, 0); when the hammer head starts to contact and forge and press the workpiece, the center of mass of the sliding sleeve advances to (L/2, 0), the worm wheel and the sliding sleeve start to separate, the chuck starts to stop rotating, then the sliding sleeve continues to advance along the horizontal right direction along with the continuous increase of t, and the position of the hammer head continues to decrease; when the center of mass of the sliding sleeve advances to (2Z, 0), the sliding sleeve advances to the limit position, the hammer head position also reaches the limit position (R-a, 0) of the pressing stroke, the forge piece reaches the maximum deformation state, and the sliding sleeve and the worm wheel can not be meshed so that the chuck can not rotate any more; when t continues to increase, the hammer head begins to move back, and the sliding sleeve begins to move back.
S5, inputting the expected position function of the sliding sleeve into an electro-hydraulic position servo working system in an electric signal mode;
s6, the electro-hydraulic position servo working system enables the hammer head to forge the forge piece within the rotation stop time of the chuck under the control of the expected position function of the sliding sleeve, and the chuck drives the forge piece to rotate at a set constant speed during the forging interval of the hammer head so as to cooperate with the forge piece to complete forging;
during the rotation stop period of the chuck, a hydraulic oil cylinder arranged at one end of the worm pushes the sliding sleeve to make reciprocating linear displacement, and the reverse pushing plays a role in accelerating the rotation recovery of the chuck.
S7, mutually matching the operating machines on the two sides on the guide rail to feed until the forged diameter of the forge piece meets the requirement, and finishing the current forging pass.
The above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (7)
1. A quantitative control method for rotation cooperation of a chuck of a precision forging machine manipulator is divided into a plurality of forging passes aiming at the complete forging process of different forgings, and is characterized in that each forging pass comprises the following steps:
s1, inputting forging process parameters of a precision forging machine according to a current forging pass;
s2, establishing a two-dimensional rectangular coordinate system, selecting a hammer forging time starting point and a position starting point, and calculating hammer forging intermittent time;
s3, calculating the requirement met by the chuck rotation speed based on the forging process parameters, and selecting the chuck rotation speed;
s4, based on the chuck rotation speed, calculating an expected position function of the sliding sleeve of the worm moving along the axial direction through a hammer position change curve;
s5, inputting the expected position function of the sliding sleeve into an electro-hydraulic position servo working system in an electric signal mode;
s6, the electro-hydraulic position servo working system enables the hammer head to forge the forge piece within the rotation stop time of the chuck under the control of the expected position function of the sliding sleeve, and the chuck drives the forge piece to rotate at a set constant speed during the forging interval of the hammer head so as to cooperate with the forge piece to complete forging;
s7, mutually matching the operating machines on the two sides on the guide rail to feed until the forged diameter of the forge piece meets the requirement, and ending the current forging pass;
the calculation formula of the hammer forging intermittent time in the S2 is as follows:
T'＝T-T Δ
T Δ ＝T 1 +T 2
wherein T' is the hammer forging intermittent time, T is the reciprocal of the hammer forging period, namely the forging frequency, T Δ For chuck rotation stop time interval, T 1 The time from the beginning of the hammer head contacting the forging to the time when the hammer head presses down to the maximum deformation of the forging is T 2 The rotation lag time is set for avoiding damage caused by the contact of the forging and the hammer head, and is the time difference from the time when the forging generates the maximum deformation to the time when the forging recovers to rotate;
obtaining a desired position function of the sliding sleeve in the step S4 includes:
according to the principle that theta increases from 0 to 360 degrees, the hammer head performs periodic reciprocating motion from the farthest end away from a forging piece, the position of theta =0 is used as the initial position of the hammer head at the beginning of each forging work, a coordinate system of the position change of the hammer head is established, and in one eccentric motion cycle, the position curve gamma of the hammer head motion is as follows:
Γ＝R+acosθ
＝R+acos(2πft)
use tup distance forging farthest end for starting 0 time point of forging to position when the worm gear meshes completely is sliding sleeve displacement curve's original point of coordinates, is sliding sleeve displacement direction along the level right direction, establishes sliding sleeve motion curve's space coordinate system, the tup distance the forging is farthest, works as the tup position is close to the forging gradually when doing into the hammer operation with sinusoidal law change, and the original point position will be kept away from gradually to the sliding sleeve on the worm, and the displacement change of sliding sleeve also is sinusoidal, obtains the expected position function of sliding sleeve as follows:
Γ'＝Z-Z×cos(2πft)
wherein Γ' is a function of the desired position of the sliding sleeve;
based on the position coordinate of the sliding sleeve which advances to the maximum stroke position and is represented by the double value of Z, the worm wheel and the worm are already separated and are not meshed any more, so that the chuck does not rotate any more when the hammer head is pressed down to the forge piece to be deformed to the maximum, and when the hammer head starts to contact the forge piece when entering the hammer, the critical position of the sliding sleeve which advances to the meshing and non-meshing of the worm wheel and the worm is half of the length of the sliding sleeve;
the length of the sliding sleeve is set as L, and the forging period is set as
Then there are:
wherein the value of t is:
taking k =0, the first forging cycle, Z is calculated by:
2. the method of quantitative control of the rotation of the collet of the finish forging machine manipulator according to claim 1, wherein the finish forging machine forging process parameters include: the forging speed, the chuck rotation speed, the forged piece before-forging radius, the forged piece after-forging radius, the eccentric shaft radius, the eccentricity, the chuck lag angle, the sliding sleeve length, the speed of a chuck rotation driving motor, the reduction ratio on a belt, and the reduction ratio of the rotation of a worm converted into the rotation of a worm wheel.
3. The quantitative control method for the rotation cooperation of the chuck of the precision forging machine manipulator according to claim 1, wherein the forging process of the precision forging machine forging system is carried out based on that four hammers in a forging box of a main machine of the precision forging machine push a connecting rod to reciprocate by means of eccentric motion of an eccentric shaft.
4. The precision forging machine manipulator chuck rotation cooperation quantitative control method according to claim 1, wherein the T is 1 The obtaining of (1) comprises: establishing the two-dimensional rectangular coordinate system, taking an eccentric point A as an origin of coordinates (0, 0), taking a horizontal line passing through the eccentric point A as an X axis, taking a vertical line passing through A in a direction perpendicular to the X axis as a Y axis, taking two points A and A1 as a straight line, and taking an angle formed by the straight line and the positive direction of the X axis as an eccentric angle theta, wherein the angle is taken as an eccentric angle theta, the A1 is taken as a circle center, a circle with an eccentric shaft radius R as a radius is taken as an R circle, the R circle rotates anticlockwise around the eccentric point A, and a Q coordinate of any point on the R circle is expressed by the following equation:
(x-acosθ) 2 +(y-asinθ) 2 ＝R 2
wherein x and y are respectively the abscissa and ordinate of the point Q, a is the eccentricity,
let y = asin θ, obtain the displacement of the R circle in the horizontal direction when the R circle makes a circular motion around the eccentric point a, where the displacement of the Q point in the horizontal direction is the displacement of the hammer head during forging in the horizontal direction, and then the change of the abscissa of the Q point reflects the change of the displacement of the hammer head during reciprocating forging in the horizontal direction, and the change of the displacement of the hammer head during reciprocating forging in the horizontal direction is as follows:
x＝R+acosθ
wherein x belongs to [ R-a, R + a ], and x represents the displacement change of the hammer head in the horizontal forging process;
the expression of the distance between the hammer head and the position of the hammer head from the beginning of contacting the forging to the time when the hammer head presses down to the maximum deformation of the forging is as follows:
h＝(R+acosθ 1 )-(R-a)
＝acosθ 1 +a
wherein, theta 1 Is an obtuse angle, representing a determined eccentricity angle at a certain moment;
based on the distance between the position of the hammer head at the moment of starting to contact the forge piece and the position of the hammer head at the maximum deformation position of the forge piece, and the difference between the radius of the forge piece before forging and the set expected radius after forging, the following expression is obtained:
h＝R1-r
wherein R1 is the radius of the forged piece before forging, and R is the set expected radius after forging;
the expression of the distance between the position of the hammer head at the moment of starting to contact the forge piece and the position of the hammer head pressed to the maximum deformation position of the forge piece is equal to the expression of the difference between the initial radius of the forge piece before forging and the set expected radius r after forging, and theta is obtained 1 ；
Based on the fact that the forging frequency of the precision forging machine is kept unchanged after forging is started, the time T from the beginning of the contact of the hammer head with the forging to the time when the hammer head is pressed down to the maximum deformation of the forging is generated 1 The angular speed of rotation is kept constant during each forging and when the forging is rotated according to the R circle
And ω =2 π f, so Δ T = T is passed 1 After time, Δ θ = | θ 1 -π|＝ω×ΔT＝2πfT 1 To get T 1 Wherein f is the forging frequency of the precision forging machine after the forging is started and is in Hz.
5. A method of quantitatively controlling the rotation of the collet of a precision forging machine manipulator according to claim 1, characterized in that the T is T 2 The obtaining of (1) comprises:
based on that when the hammer head retreats from theta = pi, the chuck can only be delayed by an angle of alpha degrees to recover rotation corresponding to the positive direction of the horizontal X axis so as to avoid the vibration of the recovered rotation of the forge piece from rubbing with the surface of the hammer head, and the delay time can be obtained according to the following formula:
the time from the beginning of pressing down the forging piece to the time from the beginning of pressing down the hammer head to the nearest distance to the forging piece is T based on the fact that the hammer head contacts the forging piece and presses down the forging piece 1 When the hammer head returns from the position closest to the forge piece, the rotary lag time T is set for avoiding damage caused by contact between the forge piece and the hammer head in consideration of vibration generated when the forge piece recovers to rotate 2 And calculating the time interval of chuck rotation stop.
6. The quantitative control method for chuck rotation cooperation of a finish forging machine operation machine according to claim 5, wherein the obtaining of the chuck rotation speed in S3 includes:
based on the angle of the forged piece rotated and the radius of the forged piece after each forging by the chuck, the relation of the shoulder formed after the forged piece is forged after two adjacent times by a single hammer head is as follows:
wherein alpha is the angle of the rotating of the forge piece controlled by the chuck after each forging, r is the radius of the forged forge piece after forging, and H is the shoulder formed after the forge piece is forged after two adjacent forgings by a single hammer;
the main forging box of the precision forging machine is internally provided with four hammers which are 90 degrees in pairs and are symmetrically arranged in space, and two adjacent hammers generate shoulders after two adjacent times of forging, so that the relation of diameter errors caused by the shoulders on the surface of a forged piece is obtained as follows:
wherein epsilon is the diameter error of the surface of the forged piece caused by the shoulder after two adjacent times of forging,
based on the specification of national standard of forged round steel on the allowable deviation of the diameter of the round steel, obtaining the relation between the diameter error caused by the shoulder on the surface of the forged piece and the diameter of the round steel as follows:
ε<0.02r
alpha is obtained by decomposition of the alpha is less than 16.12 DEG
Since α also satisfies the following relation:
α＝v×360°/f
based on that the eccentric shaft rotates 360 degrees in a circle, the forge piece rotates once, and if the degree of rotation of the chuck is 16.12 degrees every time the forge piece is forged, the conditions that the rotation speed of the chuck should meet are calculated as follows:
v×360°/f＜16.12°
wherein v is the chuck rotation speed in r/s;
based on the speed of the chuck rotation driving motor, the reduction ratio on the belt, the deceleration ratio of the worm rotation converted to the worm wheel rotation, the worm wheel rotation is the chuck rotation at the same time, and the calculation formula of the chuck rotation speed is as follows:
v＝k 1 ×k 2 ×n
wherein n is the speed of the chuck rotation driving motor and the unit r/min, k 1 Is a reduction ratio on the belt, k 2 The deceleration ratio of the worm rotation converted to the worm wheel rotation, v is the chuck rotational speed.
7. The quantitative control method for the rotation cooperation of the chuck of the finish forging machine manipulator according to claim 1, wherein during the stop period of the rotation of the chuck, a hydraulic oil cylinder arranged at one end of the worm pushes the sliding sleeve to perform reciprocating linear displacement, and the reverse pushing has an acceleration effect when the rotation of the chuck is recovered.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AT278481B (en) * | 1968-08-01 | 1970-02-10 | Ges Fertigungstechnik & Maschb | Clamping head for forging machines |
| CN102941298A (en) * | 2012-11-27 | 2013-02-27 | 孟红 | Precision forging machine hammer forging mechanism driven by eccentric shaft |
| CN102962388B (en) * | 2012-11-27 | 2017-03-22 | 孟红 | Buffer structure for adjusting axial direction of worm of hammerhead of precision forging machine |
| CN203330328U (en) * | 2013-04-09 | 2013-12-11 | 西安宝信冶金技术有限公司 | Chuck indexing device of precision forging machine |
| CN203253864U (en) * | 2013-04-09 | 2013-10-30 | 西安宝信冶金技术有限公司 | Buffering device for disc spring set in rotation direction of splines at two ends of worm |
| CN107838355B (en) * | 2017-11-02 | 2019-05-24 | 太原科技大学 | It is a kind of to be axially moved radial forging operation machine of the speed regulation with braking with worm screw |
| CN211437940U (en) * | 2019-11-28 | 2020-09-08 | 青岛衡均锻压机械有限公司 | Forging box for horizontal radial forging machine |
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