Design And Research Of 4-Axis Stamping Robot Arm

Metal stamping is one of the highest productivity in current industrial production processing method,and it is to develop in the direction of high speed,automation,flexibility with the development of modern manufacturing technology.Stamping equipment is used for the processing car roof,door and many other sheet-type parts in the automobile manufacturing industry.But at present,the loading and unloading work of metal processing for shaping is expected to work mostly done by manual operation in the domestic.Low productivity,poor working conditions and high labor intensity make it hard to avoid personal injury accident.Therefore,the development of low-cost stamping robot arm suited to China’s national conditions to solve the above problem is imperative.In view of this,this paper designed a kind of stamping robot arm based on motion control card,used to load and unload the sheet metal workpieces to automatic punching machine in automatic stamping line.According to work objects,tasks and performance requirements,the overall plan and specific mechanical structure of stamping robot arm were designed and main technical parameters was determine in reference to the existing mature foreign robot.According to the overall plan,mechanical structure and transmission programs were designed,including overall mechanical structure and detailed structural design,finite element analysis of the upper arm,the whole assembly.And in view of the robot arms movement and based on the transformation principles of torque and inertia,had a analysis of the robot arm load transfer,and then made the servo motor selection and verification with the related theory.Kinematics model of stamping robot arm was established and the D-H parameters were determined based on D-H method.The forward and reverse kinematics analysis were carried out on the robot arm,and on the basis of a study,kinematics solution was solved.After the hardware configuration was completed,concerned the actual working conditions of stamping robot arm,the working process of stamping robot arm was determined.And then the control software also was completed.Finally,a simple test of repetitive positioning accuracy was carried on the whole robot arm.And also the test results were analyzed to determine the accuracy of the robot arm meet the basic requirements.