Dynamic Study Of Rigid-flexible Coupling For Cam-type Automatic Tool Changer

In subject,the double-globoidal-cam automatic tool changer was investigated;On the basis of Creo,it completed design on this tool changer and established the three-dimensional digital prototype of its completed machine.The non-equant machining method of globoidal cam was discussed;then calculated and deduced the cutter location control formulas of five-axis non-equant machining.Later,established the multi-rigid body dynamics and rigid-flexible coupling dynamics digital prototype under the guidance of the double-globoidal-cam automatic tool changer multiple freedom dynamical model and completed the corresponding dynamic simulation and analysis.The mainly studies including the following aspectsFirstly,based on the basic theory of cam and automatic tools changer,designed the demand motion cycle diagram of the tool changer;and based on this cycle diagram,designed globoidal cam used in double-globoidal-cam automatic tool changer and this manipulator.Moreover,established the digital prototype of the tool changer based on Creo,which lays foundation for the later dynamic studies.Secondly,analyzed and studied the non-equant machine method of globoidal cam based on the midpoint offset cutter location compensation method;deduced and calculated the machining tools of the compensation size and compensation direction during the processing;then,studied the globoidal cam of equivalent machining and non-equivalence machining methods in five-axis machine;calculated and deduced the cutter location control formulas of five-axis equant machine by the method of coordinate transformation;deduced the cutter location control formulas of five-axis non-equivalence machining with the cutter location compensation method,which has a guided significance to the actual processing.Finally,established the multi-freedom rigid-flexible coupling dynamical model of double-globoidal-cam automatic tool changer based on actual workingcondition,and deduced the dynamic equation.Established the multi-rigid body dynamics digital prototype through ADAMS,and analyzed the dynamic performance;later,softened the digital prototype key parts based on dynamical model through ANSYS,and introduced to the multi-rigid body dynamics digital prototype,completed the setup of tool changer's rigid-flexible coupling dynamics digital prototype;later,analyzed its dynamic performance under different conditions;simulated the actual situation of tool changer in the machining process as far as possible;this result has a guided effect on the manufacturing and designing processing.