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Design and analysis of feeding robot for cross wedge rolling mill

Published:2022-11-22 author:GUO Kai, ZHANG Jing, KOU Zi-ming, et al. Browse: 572 Check PDF documents

Design and analysis of feeding robot for cross wedge rolling mill

GUO Kai1,2,3, ZHANG Jing1,2,3, KOU Zi-ming1,2,3,

GUO Hong-wei4, XIA Feng5, SHAN Tian-song5

(1.School of Mechanical and Transportation Engineering, Taiyuan University of Technology, Taiyuan 030024, China;

2.Shanxi Province Mine Fluid Control Engineering Technology Research Center, Taiyuan 030024, China;

3.National-Local Joint Engineering Laboratory of Mine Fluid Control, Taiyuan 030024, China;

4.School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150006, China;

5.Qingdao HDMECH Intelligent Equipment Co.， Ltd., Qingdao 266111, China)

Abstract: In order to realize the flexible grasping and large-scale stable transfer operation of large mass and large size shaft parts in the process of cross wedge rolling, a new type of cross wedge rolling feeding robot was designed.The robot used six-bar linkage mechanism and four-bar linkage mechanism respectively to realize the lifting movement and horizontal swing of the body, and realized the opening, closing and turning of the clamp based on the tensioning mechanism and rotary joint, so as to complete the transfer of large size shaft parts. Firstly,the 3D virtual prototype of the robot design was carried out according to the schematic diagram of the mechanism movement, combining with the heavy-load grabbing and transport requirements brought by the large-size shaft parts.Then, forward and inverse solutions of the robot kinematics were derived by using D-H parameter method,the motion simulation model of the robot was established with Robotics Toolbox, and the workspace of the robot was delineated based on Monte Carlo regulations.Finally, ADAMS was used to simulate the dynamics of the robot virtual prototype, and the force and torque curves of each driving part and hinge point of the key rod were obtained.The results show that the horizontal movement range of the robot end clamp is -889mm~1172mm, and the longitudinal movement range is 1548mm~2551mm, which proves that the robot end clamp can flexibly grab materials and complete a large range of stable transfer, and provides a solution for the automatic loading of ultra-large axial wedge rolling equipment.

Key words: heavy-duty robot; mechanism design; kinematics analysis; dynamics analysis;flexible grasping;parts transfer; D-H parameter method

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