Development Of Toothed Billet Loading And Unloading Truss Manipulator

China is a big country of automobile manufacturing,automobile industry is an important pillar industry of national economy,and its development speed has a great influence on the overall development state of Chinese economy.Transmission is the core component of the automobile.At present,in the transmission gear processing field,many enterprises still use manual loading and unloading method for tooth blank CNC processing.This production and processing mode restricts the production efficiency of enterprises,and then affects the overall production of automobile transmission.In order to realize automatic production and processing of transmission gear,a gear loading and unloading truss manipulator is designed for a CNC machining production line.First of all,analyze the gear billet nc machining production line actual demand,using a modular design concept,in accordance with the different functionality to determine gear billet of up-down material truss manipulator,principle and its various modules structure analysis and design,design requirements on the basis of the combination technique of pneumatic actuators and selection of servo drive system design;Through the SOLIDWORKS software,the manipulator is modeled,which lays a foundation for the next step of simulation analysis.Secondly,through ANSYS WORKBENCH software,static analysis is carried out on the position of the manipulator which is under the maximum load and in the most dangerous state in the process of working,and its structural reliability is verified.On overall structure modal analysis is made on its natural frequency and vibration model,and considering the motor vibration producing structure resonance on the end of the actuator position precision and the effect of motor vibration of vertical beam flange center at the end of the harmonic response analysis,the analysis work out inappropriate manipulator of motor frequencies,provides a theoretical basis in order to ensure the stable operation of manipulator.Thirdly,the linkage coordinate system of the manipulator was established based on the improved D-H method,and its forward kinematics equation was obtained.Through MATLAB software analysis,the position and posture of the manipulator in the process of grasping is obtained,and its space motion range is determined to verify whether the structure design of the manipulator is reasonable.Lagrange dynamics equation of manipulator is established by Lagrange dynamics method,and the maximum driving force of manipulator is solved.The dynamic simulation of the loading and unloading process of the manipulator is carried out by ADAMS software,and the curve of the speed and driving force of the manipulator with time is obtained.The calculation results are compared with the simulation results of ADAMS dynamics,and the stability of the manipulator is further verified when the manipulator moves.Finally,the control architecture of motion controller + touch screen is adopted for the whole control system of the manipulator.According to the control requirements,the hardware is selected.The electrical control schematic design of the manipulator,according to the schematic diagram and the loading and unloading work flow of the manipulator control system for modular programming,while the human-computer interaction interface design;Complete the development of the prototype,carry out the workpiece handling performance test and repeated positioning accuracy test.The experimental results show that the manipulator can stably complete the loading and unloading task,and the determination of the repetitive positioning accuracy of the manipulator is within the design requirements.The motor vibration will cause the repetitive positioning accuracy of the manipulator is low,so it is necessary to avoid the corresponding motor working frequency band when writing the loading and unloading control program to ensure that the manipulator runs more stably.