Transactions of Materials and Heat Treatment

Title：Design of loading manipulator in final forging for automobile half shaft automatic production line

Authors： Wu Ziyue Li Xinxing Du Xingxing Pan Anbang

Unit： Henan University of Science and Technology

KeyWords： automotive half shaft forging production line loading and unloading manipulators automation control system

ClassificationCode：TH122

year,vol(issue):pagenumber：2019,44(7):134-139

Abstract：

The composition and process of the automobile half shaft forging production line for an enterprise were briefly described, and based on the automated demand for the automotive half shaft forging production line, a set of loading and unloading manipulators for the final forging was designed. Then, its control system was developed, and the designed loading and unloading manipulators in the final forging included the clamping part of hand and the wrist and arm parts of manipulator. However, the clamping part adopted the double-lever and four contacts clamping design, and the selection of clamping cylinder was conducted by the force analysis of the clamping mechanism. In order to meet the technical requirements of loading and unloading in final forging, the wrist rotating mechanism was designed, and the critical components were analyzed by finite element method. Furthermore, the control system adopted the Google GUC-EtherCAT motion control platform and realized the precise control of servo motor and the reasonable control of each relevant I/O signal in the condition of OtoStudio, and the human-machine interaction interface was developed to realize the full automation of half shaft forging production finally.

Funds：

国家自然科学基金资助项目（51375230）；河南省教学改革基金项目（2017SJGLX283）

吴孜越（1960-），女，本科，副教授，E-mail：1468418444@qq.com

Reference：

[1]周正强. 可调式机械手结构设计与分析[D]. 镇江: 江苏大学, 2011.

Zhou Z Q. Design and Analysis of Adjustable Manipulator[D]. Zhenjiang: Jiangsu University, 2011.

[2]张军, 封志辉. 多工步搬运机械手设计[J]. 机械设计. 2000, 17(4):20-21, 31.

Zhang J, Feng Z H. The design of multiple processed conveyance manipulator[J]. Journal of Machine Design, 2000, 17(4): 20-21,31.

[3]徐凯, 尹文庆, 张倩. 回转型手指倾斜角的选择及运动仿真[J]. 中国制造业信息化, 2008, (9):21-23.

Xu K, Yin W Q, Zhang Q. The motion simulation and design of the revolving mechanical finger[J]. Manufacturing Information Engineering of China, 2008, (9):21-23.

[4]李刚, 周文宝．直角坐标机器人简述及其应用介绍[J]．伺服控制, 2008, (9):73-75.

Li G, Zhou W B. Brief introduction of cartesian coordinate robot and its application[J]. Servo Control, 2008, (9):73-75.

[5]蔡汉明, 李相飞, 李宗成. 机器人在注塑机生产线自动化改造中的应用[J]. 机械制造, 2018,56(10):53-56.

Cai H M, Li X F, Li Z C. Application of robot in automation reform of injection molding machine production line[J]. Machinery, 2018, 56(10):53-56.

[6]温清桥. 汽车半轴锻件在空气锤上的胎模锻造[J]. 锻压装备与制造技术, 1990, (5):41-42.

Wen Q Q. Die forging of automobile half-axle forging on air hammer[J]. China Metalforming Equipment & Manufacturing Technology, 1990, (5):41-42.

[7]曹兴伟, 张琦, 秦广明, 等. 采茶机械手结构设计及运动控制研究[J]. 农业技术与装备, 2013, (2):13-15.

Cao X W, Zhang Q, Qing G M, et al. Structural design and motion control of tea-picking manipulator[J]. Agricultural Technology & Equipment, 2013, (2):13-15.

[8]高荣慧. 工业机械手设计[M]. 合肥: 合肥工业大学出版社. 2014.

Gao R H. Industry Manipulator Design [M]. Hefei: Hefei University of Technology Press, 2014.

[9]陈国华. 机械结构及应用[M]. 第2版. 北京: 机械工业出版社, 2013.

Chen G H. Mechanical Structure and Application [M]. The 2nd Edition. Beijing: China Machine Press, 2013.

[10]刘兴义. U壳搬运机械手的设计与仿真[D]. 哈尔滨：哈尔滨工业大学, 2009.

Liu X Y. The Design and Simulation of a U-shell Handling Robot[D]. Harbin: Harbin Institute of Technology, 2009.

[11]汪义高, 李玉双, 梁先勇, 等. 伺服控制技术在精冲设备上的应用[J]. 锻压技术, 2017, 42(4): 148-152.

Wang Y G, Li Y S, Liang X Y，et al. Application of servo control technology in fine blanking equipment[J]. Forging & Stamping Technology, 2017, 42(4):148-152.

[12]李超. 气动通用上下料机械手的研究与开发[D]. 西安: 陕西科技大学, 2003.

Li C. Study and Development on the Currency Pneumatic Loading and Unloading Manipulator[D]. Xi′an: Shaanxi University of Science & Technology, 2003.

[13]濮良贵, 纪名刚. 机械设计[M]. 第9版. 北京: 高等教育出版社, 2013.

Pu L G, Ji M G. Machine Design [M]. The 9th Edition. Beijing: Higher Education Press, 2003.

[14]IEC 61131-3 ed3.0,Programmable controllers—Part 3：Programming languages[S].

Service：

【This site has not yet opened Download Service】【Add Favorite】