| In recent years, automobile lightweight has become a new trend in the development of automobile manufacturing, and the use of lightweight material is one of the main ways to reduce vehicle mass. With its light weight, high strength and high yield,et, aluminum has become the first choice for reducing vehicle weight. Due to the special nature of the aluminum forging technology, in the process of forging,it's difficult to ensure the quality of products by artificial. Fully automated production line must be used. Based on the specific job requirements in an aluminum alloy forging production line,the robot gripper was designed and studied in this article.This paper analyzed the work processes throughout the production line.According to the characteristics of the task to be accomplished by the robot, the gripper's mechanism and drive form were selected. After the design requirement was determined,the structure of the gripper was designed by using modular design ideas. A 3D model was established with Solidworks software to test whether the gripper's mass properties could meet the robot's wrist load requirements.By using ABAQUS software,static analysis was carried out for robot's key parts.According to the analysis, the structure of the parts was improved.The gripper's pneumatic control schematic and wiring diagram were drawed.Virtual simulation was carried out for the production line and the robot's motion program was compiled in ROBOGUIDE software.By virtual simulation, it's verified that the robot can complete the work in an appropriate posture and does not interfere with peripheral equipment.Finally, the production line was test run to examine the practical effects of the gripper.In this paper, the entire design process of the gripper, from the selection of mechanism to final production test, has been studied in detail.With the assist of finite element method and virtual simulation technology,this design process can be a reference for gripper's design. |
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