The Research On The Key Technology Of The Robot System For Handling Hot Working Parts

Hot working is an important way of production in the field of mechanical manufacturing. Most of the mechanical parts are processed by heat treatment. Metal casting, hot rolling, forging, welding and metal heat treatment are all hot working processing.In general, the environment of heat process workshops is extremely terrible,and, workers work in high temperature, high noise, with a strong irritating odor of the environment all year rond.As a result, it causes great harm to people’s health.Besides,after heat treatment, the temperature of the workpiece is generally around 1000℃.Therefore,there are difficulty manual handing,serious security risks and low production efficiency.So,it is necessary to use handling robots in a hot machining process.In this paper,the highest temperature of the shaft should be considered as 1200℃,and,high temperature has a great influence on performance of gripper and wrist.Nowadays, it is very difficulty for six degrees of freedom robot which is researched to complete this task.Although this kind of robot has been developed abroad, the price of each robot is very expensive.Therefore,it is necessary for us to study the property of robot.In order to enable the robot to work properly, the following researches are done in this paper.First, The design and modeling of the main body of the handing robot and the gripper are completed.In view of the high temperature working environment of the robot, the structure and drive system of the robot and gripper are designed, and, establish a 3D model in Solid Works.Second, carried on transient thermal analysis of the robots which carry the heat processing parts to obtain the distribution of temperature field. Through the analysis, find the location of high temperature, then, through improving the structure of the key parts including the gripper, six axis speed reducer, wrist, and four axis speed reducer and adding insulating coating, protect robot against the high temperature. Finally,carry on the steady-state thermal analysis of the parts to ensure normal work.Third, the stress and stiffness of key parts which belonged to robot for handling heat processing parts are analysed in extreme position.3D modle of robot for handling heat processing parts is established with the software of solidworks. According to the movement space of robot for handling heat processing parts, the extreme position of robot is choosed. In order to obtain the stress and displacement of the whole robot and the key parts, complete the static simulation of the robot, using finite element analysis software of ANSYS Workbench.Four, the structure optimization of the key parts of the robot is completed.According to the result of the robot’s static analysis, through improving the structure of the second part of the small arm, wrist swing shell and gripper, decrease the maximum stress of the second part of the small arm and wrist swing shell and reduce the displacement of the gripper end.