The Parameter Optimization Design Of A New Type Of Drilling Robot

With the development of robot technology,robot is gradually applied in various fields.At present,in areas such as spraying,welding,handling,robot has begun to play an important role,the robot had been achieved the use of humanization,the processing integration,improving the working efficiency,reducing the labor costs and avoiding of the injure caused by terrible working conditions.All kinds of drilling machine are also constantly improved after decades of development,now CNC drilling machine has developed with high precision and high efficiency.First,while drilling has developed very perfect,but the structre of drilling machine determines its limitations.Quality first,the size of the conventional drilling machine is larger,heavier,and the overall volume is very large,so it is not flexible.Second,the processing method of drilling machine is single,it can only use the drilling process without any other function.Third,drilling machine can't achieve different kinds of processing method by changing different actuators such as handling and milling.The robot in this thesis combined the traditional radial drilling machine with the robot technology.New type of drilling robot is made of parallel structure.The structure has the advantages of small volume and good stability.Compared with the traditional radial drilling machine,the drilling robot has the advantages of no pillar and the rocker arm device,so the overall size has been reduced.In addition,the traditional radial drilling machine needs two horizontal and vertical direction of movement,for not CNC drilling machine,worker also need to handle the movement of the spindle box,it is very inconvenient.The drilling robot studied in this paper can realize the coordinated movement of multiple direction due to the flexible joint.Therefore,the drilling robot in this paper has big advantages on the machining efficiency,accuracy and flexibility.This paper is a further study basic on the study by previous thesis.In previous studies,the primary model of drilling robot has been raised.But there are some defects in the design,therefore,in this paper,the topic is about finding the defects,modifying the model and doing the further design.This paper is divided into six parts:the first chapter:first of all,this paper expounds the research significance and purpose of this project.Secondly,through looking over the literature and researching,this paper expounds the history and development in the field of drilling machine.Respectively in this paper,the history of the research history and research status at home and abroad,also reveals the importance and significance of this study.The second chapter,analyzing Liao Peiwang's study on drilling robot,finding existing problems,through studying we found that the robot cannot achieve the original idea of quadrilateral work area due to partition interference.Therefore,on this basis,this paper combined the actual situation with the planning working area and the actual rotational Angle.After designing the length of parallel bar,this paper verified the feasibility of four limit position in the rectangular work areas.The third chapter,after determining drilling robot parts size,then we modeling 3-D modeling of the drilling robot.In addition,this paper design the rotation structure of drilling robot,and modeling the 3-D model of it.Then we verified the feasibility of the rotation structure.The fourth chapter,we design the drive system,we design the ball screw and select the motor.Then check the feasibility.The fifth chapter,in order to verify the stiffness of the robot,we do the finite element analysis of the robot.The compared the results with the GB standards,then we made the conclusion that this robot is qualified on precision and completely meets the requirements of drilling machine.