| Since the concept of Industry 4.0 was put forward,the whole production and manufacturing industry has gradually evolved to the direction of intelligence,and the role of industrial robots in the whole development process has become more and more important.Traditional industrial robots have single functions and heavy actions.Most of them are designed for fixed tasks and have great limitations.However,in the actual production,more and more people need robots with diversified functions and small size to carry out the work with multiple complex procedures,in order to reduce the cost of the enterprise,reduce the working space and improve the work efficiency,so the quick change device that can connect with a variety of operating tools arises at the right moment.However,most of the quick-change mechanisms developed at home and abroad have some problems,such as large volume,poor comprehensive performance and relatively single applicable environment.Based on this,this paper developed a quick change-over device which is suitable for ground operation and mounted on light mechanical arm,and three kinds of operation tools which are suitable for the quick change-over device.First of all,according to the mission requirements and performance index,this paper designed the quick change system is fast in the mechanical structure of the ontology,the device can be divided into lock output module and power module,respectively on two modules parameter calculation and components selection,and the working process of the device for quick change has carried on the detailed analysis,finally analyze the key parts of intensity,Verify the rationality of the structure.Secondly,three operating tools are designed according to the task index,which are the cutting tool,the high-speed cutting tool and the gripping tool.First,determine the overall structure of the three tools,and then calculate the parameter selection,and finally analyze the strength of the key parts.In addition,the standard interface in the quick exchange system is designed,and the tolerance of the interface is theoretically analyzed and calculated,and the simulation experiments are carried out by MATLAB and ADAMS software.Finally,the Kuka manipulator is used to verify the correctness of the calculation and software simulation.Then,the program is designed for the control of the motor in the whole quick change device to meet the task requirements.Firstly,the parameters of the current loop are determined and the position command is improved to prevent the risk caused by the sudden increase of speed after the motor is locked up.Secondly,the control program is designed for the locking motor and three operating tools.On the basis of ensuring the normal work of the three tools,the origin alignment function and overload protection function are also designed to make it more safe and reliable when it works.Finally,the docking process is divided into three stages,and the compliance control scheme adopted by the manipulator is defined and modeled.Through theoretical analysis,the influence of each parameter on the operation of the manipulator in each stage is summarized.Finally,the existing Kuka manipulator is used to conduct experiments to verify the correctness of the theoretical calculation,and through practical operation,the specific tasks of cutting,cutting and clamping are carried out to verify the working feasibility of the entire quick change system. |
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