Structure Design And Dynamics Analysis Of Bearing Ring Forging Robot

Bearing is a very important part of construction machinery,which is widely used in various industrial fields.In the process of bearing processing,the forging production of bearing ring is very important.Improving the production efficiency and quality of bearing ring has always been the goal of bearing ring manufacturers.In order to improve the automation degree of bearing ring forging process,and further ensure the efficiency of bearing ring production and the consistency of processing quality,this paper designs and analyzes the bearing ring forging operation robot which can replace the manual in the bearing ring production process.Firstly,we have a systematic understanding of the development and technical level of the current bearing ring manufacturing industry.Referring to the advanced manufacturing technology of the bearing ring in the world,combined with the actual production problems of the bearing ring manufacturing enterprises in China,we have made clear the design requirements of the bearing ring forging operation robot,and combined with the traditional bearing ring forging production technology,we have designed the structure of the bearing ring forging operation robot 。 In the design process,firstly,the whole structure of the robot is determined as a rectangular coordinate structure,and a degree of freedom of rotation is added to the robot base to make the robot more flexible in production and increase the working space;secondly,the mechanical dimensions of the robot arm and the manipulator and other components are determined according to the design requirements,and the bearing ring forging operation robot entity is established in Solid Works According to the actual production situation,the overall production layout of three robot forging operation systems is determined,the automatic production process of bearing ring forging operation robot is designed,the main equipment selection calculation of robot is completed,and the control system is designed.Secondly,the kinematics and dynamics of the forging robot are analyzed.Firstly,the coordinate system of the bearing ring forging robot is established according to the D-H method,the D-H parameters of the robot are obtained,and the kinematic and dynamic equations of the robot are established according to the parameters.In the kinematic analysis,the forward and inverse kinematics problems of the forging robot are analyzed and solved,and the kinematic equations of the robot are verified according to the results.The results show that the kinematic equations of the robot are correct.According to the existing dynamic analysis methods of the robot,Lagrange dynamic method is selected to establish the complete dynamic equations of the bearing ring forging robot Based on energy,complex system dynamics is analyzed in the simplest form.Finally,the virtual prototype of the robot is built in ADAMS software,and the kinematics and dynamics simulation of the bearing ring forging operation robot is carried out.The movement and force of the robot are analyzed from speed,displacement,acceleration and joint torque.The results show that the robot has small fluctuation of speed and acceleration in all directions,no inflection point in displacement curve,and runs smoothly,which is suitable for bearing failure automatic forging production.The simulation results further verify the feasibility of the robot design.The dynamic simulation curve shows the peak value and change trend of each joint torque of the robot,and drives the motor of the robot And the selection of reducer has a guiding role.