| At present, the domestic cooker drawing process are still using the traditional manualloading and unloading mode, resulting in low processing efficiency, bad and stable productquality, heavy labor intensity and a lot of poor security problems. Along with the rapid increasein labor costs and the urgent need for upgrading of manufacturing industry, which rely heavilyon cheap labor manufacturing stamping manufacturing high-speed automated development ofmethods can not meet the need. Therefore, research and development of the high-speedloading-unloading robot on the rice cooker inner drawing process has become practicalsignificance for the most of small and medium company.In this paper, combined with the actual demand of Five Star Appliance Co. Ltd electric ricecooker line drawing process production in Zhan jiang city, based on the enterprise stampingequipment and process of the existing system, put forward the automatic production linereconstruction according to the actual need of production. At the same time, design anddevelopment rice cooker stretch High-speed loading-unloading process Cartesian robot, for alonger distance problem of the stamping machine working space(effective stroke900mm), toinstall a short distance (400mm)light cylinder on the axis of the Cartesian robot arm, whicheffectively solve the technical problems of long cantilever loading and unloading, then calculateand check the key parts of the loading-unloading Cartesian robot.There are two major technical problems of insufficient rigidity and buffeting of the designon the development robot cantilever axis(Y axis), this paper apply for the artificial immuneclonal selection algorithm to design and optimize the structural of robot plate rigidity, based onthe finite element software ANSYS Workbench platform, the optimization results show thatunder the condition of the quality increase only0.02kg, the rigidity of the Cartesian robotdeformation decreased by37.5%, stress value decreased by37.5%, which effectively improvedthe rigidity and strength of the robot. Then use the mechanical simulation software ADAMS tosimulate structure stability, from the view of kinematics and dynamics of Cartesian coordinatesrobotic system to simulate and analysis the robot operating. Analysis results show that byincreasing the cantilever axis fixed support and damping ratio, increasing the buffer block andadjusting the pulse to avoid the resonance frequency and take other measures can effectivelyprevent the robot cantilever shaft work jitter instability.Finally, experiments were done to verify the processing and manufacturing of Cartesiancoordinate robot prototype’s stiffness and stability, using dynamic strain gauge and multiple setsof strain gauge to test the robot cantilever shaft stiffness test based on method of half bridge box wiring, the research result shows that the structure design of the robot body rigidity conform thedesign requirements. On the basis of rigidity study, applying for the stability of vibrationmeasurement by single point many times hammering method to measure the natural frequency ofcantilever shaft, to avoid the fluctuation of robot working frequency and inherent frequency toprevent resonance; Then using acceleration sensor to test the vibration characteristics of therobot under different rotational speed. The results show that: the robot has no obvious shaking inthe process of work, also does not appear unstable phenomenon, the stability of the robot meetthe design requirements.Idea of "modular" is used on the high speed loading-unloading robot design application,other production line location of the robot just add or delete module or replace simple gripper onthe basis of the drawing process Cartesian coordinate robot, this modular is very convenientuseful and quick, also can effectively save the economic costs and reduce the development cycleof the products. The research result of this paper has significant reference for the modification ofthe stamping manufacturing automation. |
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