Specificity Analysis And Optimization Of QH-3 Numerical Control Manipulator

In today’s industrial production,CNC technology is becoming riper and riper,in order to greatly improve the level of industrial automation,research and development of CNC machine tool’s functional components is critical.Manipulator as a key component of the CNC machining centers,between the spindle and the magazine,its main function is of the next process is to use the tool and the processing of the current process will be used to replace the tool,which can improve the processing efficiency.Therefore,this paper takes the QH-3 CNC machine tool changer as the research object,and analyzes the unstable factors in the existing manipulator structure,and analyzes it by three-dimensional modeling,kinematics analysis,finite element analysis and fatigue analysis to find out the weak links and optimize its structure,this work has important theoretical significance and practical value.The main contents and results are as follows:First of all,this paper introduces development status at home and abroad as well as research of manipulator research significance of the subject;describes the basic concepts and applications of finite element,according to the existing CNC machine tools manipulator drawings,the establishment of its parts of the three-dimensional solid model,and then assembled to form a complete robot system;according to the analysis results,the motion coordinate system of the manipulator is established in order to establish the kinematic equation of the manipulator system.The work process of the manipulator is discussed by the kinematic equation,which is consistent with the actual working process and also verifies the correctness of the equation.Secondly,the manipulator is subjected to static and modal analysis.The three-dimensional model of the manipulator has been simplified and then imported into the finite element analysis software ANSYS Workbench to establish the finite element model of the manipulator.In the static analysis,calculate the total deformation of the manipulator and the maximum stress,given the deformation and stress cloud.The maximum deformation and stress generation are analyzed from the cloud diagram,which provides the idea for the optimization of the manipulator.In the modal analysis,the necessity of the modal analysis of the manipulator is analyzed,and the natural frequency and mode of the first six steps of the manipulator are obtained after the modal analysis.The vibration mode of the manipulator will be affected by the vibration mode.Finally,the robot is optimized and the fatigue life is analyzed.because of the static analysis,the displacement of the immovable hand in the manipulator is relatively large,so the immovable hand is optimized,the static analysis of the immovable grips was carried out after the analysis of the individual grips.The displacement was 16.6% lower than that before the optimization,indicating that the optimized effect was obvious.The optimized natural frequency has changed,and the first-order natural frequency(fundamental frequency)has been increased,which provides a reliable basis for the design of the subsequent manipulator.Secondly,the fatigue analysis of the castellated shaft in the axial force and the torque is carried out respectively.The damage cloud diagram and the life cloud diagram of the castellated shaft in these two cases are obtained,from the two cloud maps can clearly get dangerous points and longer life part,which also provides a basis for the follow-up optimization.The simulation results of this paper have certain reference value for the design and improvement of the manipulator.