A Study Of Robot For Loading And Unloading Of CNC Lathe

Nowadays, in the machining industry, robot has been developed to play animportant role in FMS and FMC. FMC and FMS which consist of robot andmachine equipment can improve production efficiency by improving theprocessing speed and precision and assisting CNC machine to achieve theunmanned automated production.Pointing out the low-level automation of medium-and-small-sizedmechanical processing enterprises, this paper introduces the research status anddevelopment trend of industrial robot both at home and abroad. To improveproduction efficiency, this paper designs a five degrees of freedom robot for amanufacturing unit composed of two NC lathes, tray and material box to enablefeeding and blanking operation for NC lathe group. The main contents of thispaper are shown as follows:Comparing with other types of robot, the joint typed robot has greatermotion space and moves more flexibly. Therefore, this paper designates jointtyped as the structure of the robot. This paper analyzes the job requirements oftwo NC lathe (group), sketches the workflow process of the robot and analyzesthe work space of robot end-effector. Aiming at the robot mechanism of loinswing, arms swing and wrist pitching, several schemes is proposed to make acomparison and an optimal one is selected to design the structure. In order toguarantee the kinematic accuracy of the robot in practical work, this paperoptimizes the design of the big arms, the key part of the robot, and verifies itsstiffness by using finite element analysis. Establishing coordinate transformationmatrix by using D-H method and calculating the positive and inverse kinematicsequation solution, the movement rule (consists of velocity, acceleration andinterrelation among each joint) of end-effector is studied correctly and the basisof kinetic analysis and motion control is provided. Based on kinematics analysis,the trajectory of the robot is planned to verify that whether the trajectoryconform its work space. At the last part, this paper finishes part modeling and virtual prototyping design by using SolidWorks and then obtains the practicalwork motion trajectory curve of robot and the analysis curve of end-effector bymotion simulation of the virtual prototyping.According to the research and analysis, this paper provides sufficienttheoretical basis for the manufacture of robot and establishes theoreticalfoundation for the subsequent further study of kinetic analysis and controlsystem.