Design Of Structure And Hydraulic Control System Of Casting Carrying Manipulator

Casting carrying is one of the key processes in the foundry production process.The rapid increase of casting production promotes the popularization and application of automatic casting production line,the traditional method of casting handling by hand is far from satisfying the practical needs.Due to the heavy casting weight,high quality requirements,adverse environment,existing risks and other reasons,there is an urgent need for an efficient,stable and reliable casting handling manipulator with high quality to replace manual casting handling.Although the manipulator has been developed for many years in China,its performance is not stable.its reliability is poor,and the key parts are easy to fail,which affects the production.Therefore,it has not been widely popularized and popularized,and people's understanding of the manipulator and the corresponding automatic production line is insufficient.In recent years,the performance of domestic general manipulator has been improved rapidly,and the products have been widely used.But the current domestic study of the special manipulator is relatively few,and most of the researchers are in companies.They focus on practical use.They do not have in-depth research on manipulator technology,and lack of analysis on its mechanical structure,especially the internal mechanical properties of key components.They lack the necessary theoretical design and the use of modem design methods.The hydraulic control system is unstableThis paper takes a certain type of casting handling manipulator as the research object,takes a typical cylinder casting as an example.It designs the general layout of the automatic casting production line including the special manipulator,the structure of the manipulator and the hydraulic control system.And it completes the mechanical analysis and improvement of the key forearm.Firstly,it designs the general layout of the typical cylinder casting production line and the static molding line,and introduces the process flow and structure composition.According to the actual production situation,the optimal working position of cylinder casting handling manipulator is arranged,and its working principle is introduced.So it is concluded that the casting handling manipulator replace artificial is necessary.Secondly,it designs the structure of cylinder block casting carrying manipulator,and introduces its overall scheme,structure composition,working principle and basic parameters,design and calculation on main hand claw,wrist,arm,movable arm before turning device.It designs and calculates the forearm,which is a typical key component related to the overall performance and service life of the manipulator.The strength of it is checked.According to the common and easy failure types,the structure at the stress concentration is improved.Then,when the forearm is lifted to the highest position in typical conditions,according to the finite element analysis theory and modern simulation design method,the static and dynamic characteristics of the forearm before and after the improvement are analyzed.SolidWorks is used to complete 3d model of the forearm,and SolidWorks Simulation is used to establish the finite element model and complete mesh division.The results of stiffness and strength simulation show that the forearm structure met the requirements of static strength design,and that the maximum von Mises stress and maximum combined displacement of the modified forearm decreased by 26.1%and 31.1%,indicating obvious improvement effect.After completing modal and harmonic response analysis,Direct Sparse solver was used to obtain the first 6 order natural frequency of the structure and draw the corresponding vibration pattern cloud graph,so as to deeply understand its dynamic characteristics and improve the dynamic characteristics after improving,which is helpful to understand the dynamic frequency of the manipulator.Finally,the hydraulic control system of the manipulator is designed and the key data is obtained.This paper analyzes and designs the hydraulic system and electrical system,discusses the basic composition and principle,and mainly introduces the hydraulic servo control system.Through accurate theoretical calculation,it can ensure the stable operation of the manipulator.