Design And Research Of Hybrid Casting Robot With Movable Self-balancing Heavy Load

At present,in the field of precision casting,the operating load of industrial manipulator is limited and it is difficult to meet the heavy load requirements of small and medium-sized batch production.And there are some technical problems such as fixed position,poor motion accuracy and thermal radiation interference.Aiming at the above deficiencies.The design scheme of the hybrid mobile self-balancing heavy-duty casting robot was put forward,which realized long-distance walking and stationary point support,and improved the quality,operation safety and stability of the casting operation.Then,the pouring process of the ladle was studied,and the relationship between the residual volume and the ladle Angle and the position of the center of mass of the pouring liquid were obtained.Thus,three limit conditions of fixed-point casting were defined,and finite element analysis was carried out on the parallel working arm and the branch chain with the maximum force by ANSYS.The correctness of the final scheme was verified by comparing the four schemes.The dynamics equations of the hybrid working arm were established by Lagrange method.Then,the hardware and software platform of the robot control system is built based on the hardware-in-the-loop motion simulation strategy of servo three-loop PID.Then,the pouring process of the ladle was studied,and the relationship between the remaining volume in the ladle and the angle of the ladle.And the relationship between the position of the center of mass of the pouring liquid and the angle of the change were obtained.This defines three extreme conditions for fixed-point pouring and uses ANSYS to perform finite element analysis on the parallel working arm and the branch with the largest force.By comparing the four sets of plans,the correctness of the final plan is verified,and the Lagrangian is passed.The method constructs the dynamic equation of the hybrid working arm.Then based on the semi-physical simulation motion control strategy of the servo three-loop PID,the software and hardware platform of the robot control system is buil.Finally,the performance test of the casting robot prototype is carried out.Based on the external drop volume as an indicator,a reasonable range of performance parameters of the prototype was initially selected.Then,by designing four sets of pouring water simulation tests,the parameter ranges of the pouring liquid trajectory height,the average flow rate of the ladle,the volume of the pouring liquid.And the ladle back-tilting speed of the prototype was determined as follows:Z_DE=350～400mm、Q_q=102～203cm³/s and V_s=5300cm³、v_bs=0～1.05rad/s.At the same time,the trajectory planning test was carried out on the mobile chassis and the hybrid working arm.The results show that the control system scheme can meet the requirements of use.And within the above parameter range,it can ensure that the pouring liquid trajectory is smoother and stable.The amount of external drops is small,and the average pouring flow rate is appropriate,and better filling quality can be obtained.Figure[75]table[10]reference[105]...