Design Of Manipulator For Shot Peening Equipment Applied On Complex Surface

Increasing attention from government of nations and scientific research institutions ispaid on shot peening strengthening for the great economic benefits that would bring us, bywhich, fatigue resistance, stress corrosion resistance, quality and service life would beincreased vastly. Shot peening strengthening as one of the surface modification technologieshas developed a lot since1980’s, and it’s widely used in aircraft manufacturing, chemicalindustry, plastic molding, oil industry and engineering mechanism. Shot peening process canbe very complex when it is applied on complicated surface, cavity and inner hole, because ofwhich, the corresponding equipment has to be highly automatic to satisfy the processrequirements under complex working environment. Besides, application of the processingequipment is considered as the sign of since and technology level and industrial automationdegree of a country, since it combines multiple technologies together as a hi-tech system.Application range of shot peening is transiting from simple shape to complex surface andcavity as standards like fatigue resistance and stress corrosion resistance are both improvedalong with developments of aviation, navigation, petroleum industry and ordnance. Domesticequipment can hardly meet shot peening process requirements for complex surface, whichmeans the imported CNC shot peening strengthening equipment is now holding most marketshare. So our research into shot peening equipment under higher requirements is with greatsignificance.This project is based on research of gas dynamic shot peening machine tool whichspecified in five DOF, designing multi axis manipulator and CNC rotary working-table tomake application available for the machine tool in shot peening under complex condition.Shot peening strengthening requirements for cavity and inner hole can be satisfied throughrotary lance on the end of manipulator, parts of which are designed, modeled and assembledin Solidworks. With open loop CNC system applied in the shot peening machine tool, motioncontrol card which takes chip TMS320F2812as control core is designed for five axis steppermotor, and design for the card hardware includes circuit layout based on DSP andcommunication circuit of internet is also included. Study of the machine tool shows us thatfunctions such as accurate timely control for location and angle and speed of peening areavailable, which can help to improve precision in measuring distance between lance andobject surface and angle when shot peening strengthening is applied on parts with complexsurface. And it also makes fixture for working piece easier, lowers down fixture cost andavoids repeating mounting while meeting machining process requirements. This articletheoretically achieves machining of parts with complex surfaces in shot peening strengthening equipment based on study of mechanical system of manipulator, driving and transmissionsystem and control system.