Research On The Design And Mechanical Analysis Of The Auxiliary Die Robot For The Cold-heading Machine

The degree of automation and intellectualization of the parts of the cold heading machines directly reflects the advanced level of the equipment manufacturing industry in a country.For many varieties and small batch production mode,the production efficiency of cold heading machines is mainly constrained by mold replacement efficiency of the cold heading machines.At present,the United States,Japan and other developed countries have already developed the cold heading machine automatic mold replacing system,while the domestic cold heading machine mold replacing technology is very backward,usually using pure manual labor.In order to narrow the gap in the aspect of replacement efficiency of cold header between the developed countries,and to improve the efficiency and safety of the mold replacement of cold heading machine,this project has independently developed a cold heading machine auxiliary mold-replacing robot.First of all,analyze the motions of mold replacement process,namely,clamping,handling,assembly,disassembly,positioning and tightening,and establish a simplified model of the auxiliary mold-replacing robot.Solve the motion equations of the auxiliary mold-replacing robot motion,determine the target function and constraints of trajectory planning of the auxiliary mold-replacing robot,and optimize the motion trajectory of the auxiliary die-changing robot.Second,aiming at the position,displacement,velocity and acceleration of the key parts of the auxiliary mold-replacing robot,establish the-parameter model of the auxiliary mold-replacing robot,and determine the dynamic model of the auxiliary mold-replacing robot by the Kane equation method.Using Adams Software to do the kinematics and dynamics analysis of the robot.Analyze the changing law of displacement,speed,acceleration,force,torque,angular velocity and angular acceleration with the time,providing a theoretical basis for the design of the auxiliary mold-replacing robot.Then,according to the design principle of cold heading machine auxiliary mold-replacing robot,determine the mechanical structure characteristic requirement and important design parameter configuration of the auxiliary die-changing robot,and the key parts such as the column,rocker arm,arm,angle limiter and grasping end of the robot are designed.Establish 3D model of the auxiliary mold-replacing robot through Solid works software,providing an intuitive reference for producing and testing prototypes.Finally,according to the design principle of cold heading machine auxiliary mold-replacing robot,determine the characteristic requirements and parameter configuration of the control system of the auxiliary die-changing robot,and the electrical system and control system of the robot are designed.According to the design scheme,produce and test the prototype of the auxiliary mold-replacing robot.Through the no-load motion test,verify the rationality of the structure design.Through the grasping experiment,compare and analyze the installation effect of the machine and manual operation,and verify that the auxiliary robot achieves the design goal of the auxiliary mold replacement.