Force Analysis Of Blasting Cleaning Manipulator About Engine Cylinder

With the engine block structure more complex, the blast cleaning process of the castingsurface has become increasingly difficult. Traditionally, the general approach adopted is usingthe Squirrel-cage or Hook type shot blasting machines for processing, however, both methodsexist deficiencies, squirrel-cage is only suitable for the Single production, and the hanginghook cleaning effect is not sufficient on the cylinder chamber. In view of this situation,analyzing the status quo of domestic and foreign research,this paper propose to introduce therobot blasting treatment process, which uses robot instead of artificial methods to crawl thework piece for the blasting process, and it can overcome the disadvantages of the above twomethods.The blasting robot working process is described below. By control program, the endgripper grabs the engine block which transmitted through the roller, and robot’s joint startsoperation to put the engine block into the internal blasting machine after work piece isclamped. Meantime, four shot blasting machine begin to throw projectile hit the work piece.As the manipulator end Rotating with uniform velocity, each surface of the cylinder can be hitby the projectile throw, making clean-up effect is sufficient.At present, the domestic industrial robotics technology is becoming more mature. Afterinvestigating several more good products on the market, this paper independently designs anindustrial robot according to the experimental needs. The robot has six degrees of freedom,and each degree of freedom is achieved by servo motors and RV reducer, which has amaximum working load of180kg, and a maximum working radius of2.5meters.First, the paper analyzes blast cleaning process where many tiny projectile particles notonly collide with the work piece, but also interact with each other after the thrown. Therefore,by using the method of discrete element, we regard each particle as a separate entity, and getthe additional forces generated in the cast playing by simulating the entire process withEDEM. Then, considering the additional forces and the weight of the robot end jaws and thework piece as the total load of the entire model in ANSYS, we reached robot each joint (arm,forearm and wrist) major components deformation and stress diagram which provides atheoretical basis for the practical.