Research And Design Of Automatic Loading And Unloading System Of CNC Lathe Based On Industrial Robot

With the progress of science and technology,CNC lathe equipment is constantly updated,labor costs are gradually rising and the requirements of green manufacturing are gradually improving,manufacturing enterprises are gradually tending to more economical,efficient and environmentally friendly automated and unmanned production mode.For the processing of multi-process small axis workpieces on CNC lathes,most enterprises still adopt the way of loading and unloading workpieces by manpower.Based on the industrial robot assisted CNC lathe loading and unloading system can not only replace the manual automatic loading and unloading,but also ensure the stability and high efficiency of production in a more economical and environmentally friendly way.This paper researches and designs an automatic loading and unloading system for CNC lathes based on industrial robots,which can provide certain ideas and methods for the loading and unloading methods of CNC lathes and promote the technological progress and transformation and upgrading of enterprises.This paper firstly discusses the research status and development trend of industrial robots at home and abroad,and carries out the research and design of CNC lathe automatic loading and unloading system based on industrial robots through the analysis of the production site environment of CNC workshop in manufacturing enterprises,aiming to research,design and develop CNC lathe automatic loading and unloading system and carry out practical application in production.The main research contents of this paper are as follows.(1)The robot application form of CNC lathe is analyzed,and the analysis of the design requirements of the CNC lathe automatic loading and unloading system based on industrial robots is carried out according to the relevant parameters of the CNC lathe and the target workpiece;the general layout and overall scheme of the CNC lathe automatic loading and unloading system are designed according to the design requirements and the actual site conditions of the enterprise workshop,and the industrial robots are evaluated by the comprehensive Then the selection,design and verification of the components of CNC lathe automatic loading and unloading system such as end fixture,base,etc.were carried out.(2)The kinematic analysis of the industrial robot was verified,and the establishment of the MD-H linkage coordinate system and the generation of the MD-H parameter table were completed by using the basic kinematic theory of the industrial robot,MD-H and other knowledge,as well as the structural parameters of the robot used in this paper;the positive kinematic analysis of the robot and the error analysis between the theoretical end position and the actual end position were carried out according to the linkage coordinate transformation rules(2)The inverse kinematics of the robot was then verified by solving the inverse kinematics;then the actual reachable workspace of the robot was verified by simulation using the Monte Carlo method,and the dynamics of the robot was analyzed.(3)The coordinate system composition of the industrial robot application is studied;to address the problem of low accuracy of the robot table coordinate system calibration,the table coordinate system is optimally calibrated by the least squares method,the circular center fitting method,and the refinement block method,and the corresponding fetching tests are conducted.The optimization effect of refinement block method is more obvious.(4)The overall control scheme and system flow of the automatic loading and unloading system of CNC lathe were studied and designed;the I/O signals of the automatic loading and unloading system were allocated and the communication relationship between CNC lathe and lathe controller was established;the motion trajectory of the robot end fixture and the overall work flow of the automatic loading and unloading system were designed;the automatic loading and unloading system of CNC lathe based on industrial robot was built and production debugging and testing were conducted.The results show that the successful rate of workpiece gripping and the rate of finished workpiece meet the requirements of enterprise processing and production,and greatly save labor;finally,for the problem of long standby time with load due to too fast or too slow robot speed in the automatic loading and unloading system,the working speed of the robot is optimized,which greatly reduces the standby time of the robot with load and improves the working speed of the robot is optimized to greatly reduce the standby time of the robot with load and improve the service life of the industrial robot.This paper researches and designs the automatic loading and unloading system of CNC lathe based on industrial robot,which meets the requirements of enterprise processing and production.The research results of this paper provide some reference for the application of CNC lathe automatic loading and unloading system in practical engineering.