电磁铆枪缓冲系统建模与分析

Modeling and Analysis of Buffer System in Electromagnetic Riveter

摘要: 电磁铆枪属于铆接装配过程中冲击加载执行器，为了减小后坐力对人体或机械手伤害，本文研究了阻尼器以及橡胶垫刚度对电磁铆枪后坐力的影响，并提出了一种串联阻尼器形成的可变刚度模型，将其与不可变刚度模型进行对比分析。结果表明1) 橡胶垫刚度以及阻尼器刚度的减小，可起到减小电磁铆枪后坐力的作用；2) 在缓冲位移不变的情况下，不可变刚度模型最大后坐力为5478.1N，可变刚度模型最大后坐力为4776.9N；3) 不可变刚度缓冲时间为467.6 ms，可变刚度模型缓冲时间为490.5 ms；4) 可变刚度模型较不可变刚度模型，后坐力降低了12.8%，缓冲时间增加了4.9%，缓冲效果显著提高。本文的研究成果对冲击加载过程后坐力防控具有一定的指导意义。

Abstract: Electromagnetic riveter is a loading actuator of riveting assembly process. In order to reduce the damage of recoil forces on robot or human body, the effect of dampers and rubbers on the recoil forces was studied in this paper. The variable stiffness model on series dampers was proposed, and was compared with the fixed stiffness model. Results showed that 1) the recoil forces of electromagnetic riveter could be reduced by decreasing the stiffness of rubber and dampers; 2) On the premise of unchanged buffering displacement, the immutable and variable stiffness models were 5478.1N and 4776.9N, respectively; 3) The buffering times were 467.6 ms and 490.5 ms for the immutable and variable stiffness models, respectively; 4) Compared with the immutable stiffness model, the recoil forces of the variable stiffness model could be decreased by 12.8%. But the buffering time was increased by 4.9%, and the buffering effect was significantly improved. The results of this paper have a guiding significance for the prevention and control of recoil forces during impact loading process.