Design And Research On SCARA NC Specialized Wood Working Milling Machine Of Sofa Handrail

Wood sofa handrail is becoming more and more popular on account of its natural texture and comfortable feeling.At present,the processing technology of sofa handrail still has used the traditional manual processing or the universal wood working milling machine.The processing way has low production efficiency and processing quality.It has not been able to meet the needs of furniture manufacturing enterprises.Therefore,designing a practical NC specialized wood working milling machine of sofa handrail contour became very urgent.The task analyzed the current situation and development trend at home and abroad of the NC wood working milling machine,realized an organic integration of robot technology and computerized control technology,broke former independent structure form of cartesian coordinate machine tool,designed a kind of SCARA NC wood working milling machine,specialized for processing sofa handrail contour efficiently.The machine tool has the cutting performance of present NC machine tool and the flexibility of robots,workpiece can complete contour milling processing of one clamping,improved the production efficiency and product quality.According to the cutting parameters of wood cutting,we calculated the cutting force and cutting power,the type of motorized spindle was determined.The driving mode of large arm joint and small arm joint chose stepping motor combined with harmonic reducer,the parameter calculation and selection were carried out.Elevating axis used stepping motor combined with ball screws to implement vertical feed,detailed design and verification were achieved.At same time, the kinematics analysis was conducted,kinematics model using D-H method was set up,the direct solution and inverse solution of kinematics equation was deduced,the velocity Jacobian matrix was constructed using vector product method.The three-dimensional model of milling machine was established by using Pro/E software.Then,the model was imported into ADAMS in Parasolid format.After defining constraints and relevant motion functions,simulated the manufacturing process of sofa handrail contour which can provide guidance for machining path controlling.Analysing the parametric curve of motion simulation based on ADAMS/Processor,the feedback result showed that the milling machine could meet design requirement,trajectory tracking well and no collision for its reasonable structure design.Based on the work requirement of NC wood working milling machine,the controlling system was introduced,including hardware choice and connection,structure and function of software design,determination of feed route,etc.The automation control program for disposable processing based on VC++ was designed,the whole system ran well after preliminary debug.