Design And Research On The Omni-directional-wheeled Walking Mechanism Of The Casting Robot

Casting occupies an important position in the national economy,in which the foundry technology and equipment directly affect the production quality and production efficiency of the casting.The development of foundry industry is greatly restricted by the majority of the foundry technology and equipment that require a large number of human,mechanized and intellectualized stages.But at present,there is still a lack of research on mobile intelligent equipment for casting production,and there are no relevant solutions.Therefore,based on the investigation and analysis of the foundry operation environment,taking the omni-directional-wheeled walking mechanism of the casting robot as the research object,the key technologies,structural mechanisms and design methods involved are thoroughly analyzed and discussed.The main work of this article includes:(1)Design and analysis of the omni-directional-wheeled.The establishment of the omni-directional-wheeled space model,derived by an arbitrary point roller contour projection in the omni-directional-wheeled axis direction of the arc center angle of roller radius curve variable,with the outer contour curve of MATLAB generation of the roller,determine the structure parameters of the omni-directional-wheeled design,completed the structural design of the omni-directional-wheeled,and analysis by using the finite element software,verify the omni-directional-wheeled design meets the engineering application ultimate strength demand.(2)Design and analysis of the structure of the omni-directional-wheeled walking mechanism.Analysis and determination of the basic parameters of the walking mechanism of the power system,the completion of the type selection of the motor and reducer and the structure design of drive system unit,H-type supporting legs,single supporting legs,chassis,a box body and a box cover for the omni-directional-wheeled walking mechanism of the casting robot,to verify the design of the key parts are in line with the stiffness the mechanical properties and strength requirements using Simulation software.(3)The kinematics analysis and simulation of the omni-directional-wheeled walking mechanism.The construction of the omni-directional-wheeled walking mechanism kinematics model,Jacobi matrix,inverse kinematics equations and forward kinematics equation is deduced and obtained the relationship between the four wheel speed and the moving state of the omni-directional-wheeled walking mechanism.The ADAMS software is used to verify the correctness of the structure design and the stability of the moving mechanism of the omni-directional-wheeled walking mechanism of the casting robot.(4)Comprehensive evaluation of the design of the omni-directional-wheeled walking mechanism.AHP evaluation method based on the established comprehensive evaluation model of the omni-directional-wheeled walking mechanism,construct the performance evaluation index matrix,obtained the weight and structure of the sub index level of individual elements of the omni-directional-wheeled walking mechanism of the weights relative to the target layer elements each index layer contains elements of relative weight,sub index layer.Finally,the above research results,the paper proposed a design scheme of reasonable and effective casting production of mobile intelligent equipment,the design of the omni-directional-wheeled walking mechanism of the casting robot,has the characteristics of omni-directional motion,has good flexibility and flexibility,can be better used in foundry equipment manufacturing industry.