The Main Mechanism Design Of Heavy Load Pouring Robot And Analysis Of Its Motion Characteristics

Foundry practice is one of the main methods to obtain mechanical product blank.but the foundry industry is labor-intensive,it exists severe environment,such as high temperature,high dust,greasy dirt,noise,electromagnetic interference and so on,and the casting is large.As the continuous upgrading of the industry,customers constantly improve the quality standard of castings,and enterprises continuously improve the requirements for automated production,the general industrial robots cannot longer meet the production needs.The robots used in foundry practice is mostly articulated series robot,its poor accuracy and small load capacity are difficult to meet the demand of heavy load tasks in the production of medium and large castings.Moreover,the existing casting robot is only limited to fixed work stations to assist in the relatively simple casting task,and cannot adapt to the requirements of mobile precise operation in the complex production environment of foundry production.According to the existing problems and the basic requirements of robot design,the design of two types of heavy load pouring robot is preliminarily proposed,and optimize its design based on TRIZ theory,Mechanism topology theory was used to select the two schemes,and the final design scheme is selected.The robot adopts four-wheeled mobile platform,which can walk in the workshop,and the robot arm adopts parallel structure to improve the load capacity of the robot.The ANSYS software is used to analyse the the key components of robot by finite element method,and obtain the displacement distribution and stress distribution of the key components of robot,it is verified that the key components of robots meet the requirements of heavy load by graphical data.The fatigue analysis is carried out to the parallel mechanism of the robot to obtain the shortest fatigue life,and verify the rationality of the design of the parallel mechanism.The ADAMS software is used to analyse the motion characteristics and kinematics simulation of parallel manipulator to obtain each branch displacement time graph in X,Y,Z direction.Through graphics and data analysis further verified that the design of parallel mechanism is reasonable and feasible,which provides the basis for the design and development of physical prototype of heavy load pouring robot.The positive and negative solutions of the parallel manipulator are obtained,and the dynamic analysis is carried out to lay the foundation for the subsequent dynamic simulation.By simplifying the design plan of robot,a gravity pouring simulator stand is designed.The EDEM software is used to simulate the pouring simulation test,and the significant factors are determined.The physical prototype of the gravity pouring simulation stand is built to obtain the primary and secondary of the significant factors by the experiment,which provides reference for the relative position of the robot and the flask in the follow-up study.