| With the continuous development of the injection molding industry,the requirements for product processing quality and efficiency are constantly improving,then injection molding automation technology has also emerged.Through the cooperation of industrial robots and automation equipment,the efficiency and quality of the entire injection molding line have been improved.However,there are still some products with complex structures and special processes that are difficult to automate the production line,relying on manual loading and unloading,which takes too much time.As a result,product positioning accuracy is low and the quality is difficult to guarantee.This article is based on the background of the automatic processing of multi-insert housings for new energy vehicle electronic water pumps.Aiming at the problems of small parts,sporadic manual clamping time and low precision caused by scattered parts,a composite assembly punching process for multi-insert housing was proposed,and a set of automatic processing and detection production line for multi-insert housing was designed.The improved wolf pack algorithm based on Tent chaotic mapping is applied to the production line path planning,which improves the production efficiency and guarantees the product accuracy.The main research contents of this article are as follows:First of all,according to the part characteristics and process requirements of the multi-insert housing,its production process was analyzed in depth.Then,a composite group punching process of combining loose inserts,injection molding and punching is proposed.Based on this process,the internal structure plan of the production line system was determined,and the layout form was analyzed.Based on the slender structure characteristics of the adjusted multi-insert combination,a special end effector based on soft beak was designed,and on this basis,automatic auxiliary equipment such as punching device and testing device were designed.Secondly,combined with the repeated positioning accuracy and working space requirements of the automated processing and inspection production line,the FANUC M-10 i A robot was selected as the production line operation robot.Based on the improved D-H method,the robot link model is established,and its forward and reverse kinematics problems are analyzed and solved.Further,a robot model was established in Matlab,and the derivation results of forward and inverse solutions were simulated and analyzed to verify the correctness of the kinematics model.Thirdly,the robot trajectory planning is studied in the joint space.According to the displacement,velocity and acceleration curve of the robot end joint,various interpolation methods are compared to determine the optimal stability of the fifth degree polynomial method.Then,based on the Tent chaotic map,the initial population of the wolf pack algorithm is optimized,and an improved wolf pack algorithm is proposed.The grid method is used to simulate the trajectory planning environment,and the improved wolf pack algorithm based on Tent chaotic mapping is applied to the path planning problem.Comparing the results with genetic algorithm and ant colony algorithm,it proves that it has a good ability of seeking optimization.Finally,based on the overall structure and layout scheme of the multi-insert housing production line system,combined with Roboguide software,an offline simulation system for automated processing was established.The grid method was used to establish a simulated production line layout environment,and a reasonable interpolated point was calculated using an improved wolf pack algorithm based on Tent chaotic mapping and brought into the TP program for optimization.According to the results of the optimization analysis,the actual production line layout and experiments were carried out.The experimental results showed that the automated production line cycle time was reduced by 18 s,the production efficiency was increased by 17.6%,and the product surface roughness and other parameters met the product process indicators. |
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