Research On Front Axle Loading Robot And Intelligent Tooling

With the rapid development of science and technology in recent years and the continuous advancement of China Manufacturing 2025,intelligent production line has been the trend.This not only improves the production quality and efficiency of the product,but also reduces the labor intensity of the workers,improved manual work environment.However,at present,the intelligent upgrading of some production lines in the mechanical processing industry does not go smoothly,such as "harvesting machine front axle welding production line".Due to the large number of weldments in the front axle,large differences in shape and the need for tool positioning during welding,its production company has so far failed to find an effective solution for the automated feeding of weldments.Under these circumstances,Although the front axle welding line uses an efficient welding robot,however,in the pre-welding preparation work,the manual loading and manual positioning of the weldment are relatively inefficient.This makes its existing welding line has a very large efficiency improvement space,in response to this problem,this paper has done the following work based on the realization of automated loading of the front axle weldment:(1)Based on the analysis of the front axle welding process,Aiming at the disadvantages of manual loading and clamping in the front axle welding line,an automatic feeding program combining a dedicated feeding robot and a feeding turntable was proposed and a related mechanical structure was designed.The specifics include: loading robot design;tooling claw design;feeding turntable design.(2)Set up a kinematics model for dedicated feeding robots and perform forward and inverse kinematic analysis and simulations.Based on this,an end-orientation error model for dedicated feeding robots was established.The influence of various error factors on the posture error of the robot at the end was analyzed and simulated.Finally,combined with the analysis and calculation of the error of the feeding turntable,the accuracy of the welding fixture positioning to meet the welding requirements is determined.(3)Select the appropriate PLC product and design the PLC control system for the feeding equipment.These include: setting up a PLC control system,assigning the I/O interface address of the PLC,drawing the external wiring diagram of the PLC,and writing the control program of the PLC control system.