The Design And Research Of Nozzle Ring Blade Grinder And Its Loading-unloading Manipulator

The blade of nozzle ring is a key component of the variable geometry turbocharger,which directly affects the performance of the turbocharger.For the grinding of the nozzle ring blade,there is no factory which produces this kind of equipment in China,which limits the popularization of the turbocharger technology to a great extent.It is extremely urgent to design and develop a special grinding equipment with high machining accuracy.At the same,with the labour costs rising,manual cutting and other machining process in the traditional mode of operation has been unable to meet today's production requirements,using automation equipment to replace the manual for the machine to load and unload the material has become inevitable.Based on the situation above,this paper aids to design an automatic equipment for the grinding of the single handle blade of the nozzle ring,and it includes two parts: the grinding part of the blade and the automatic loading-unloading manipulator.On the basis of the design of the equipment,the manipulator is choiced as the main object to carry on the correlate analysis,in order to ensure that it has good static and dynamic characteristics.The main research contents are as follows:(1)According to the material and structural characteristics of the blade of the nozzle ring,determine the grinding process plan,and then complete the scheme design of the special grinding equipment and the automatic loading-unloading manipulator.(2)Design the key parts of the special grinder and automatic loading-unloading manipulator,and then establish the 3D model by SolidWorks.After that,A geometric error model of the cylindrical grinding unit is established by the theory of multi-body system.The objective function for optimization in accuracy distribution is built on the basis of the geometric error model.Then Matlab genetic algorithm is used to optimize the accuracy distribution,which provides the theoretical guidance for determining the accuracy of each part of the grinder.(3)Complete kinematics analysis of the manipulator and plan its loadingunloading path.Utilize Adams to establish virtual prototype model of themanipulator,then analysis the process of the its loading and unloading material to do the further inspection and correction for the path planning and feeding rhythm,then verify the rationality of the motor and reducer.(4)Utilize Workbench to complete the modal analysis and transient dynamic analysis of the manipulator.The change of stress and strain in the process of loading and unloading workpiece is obtained in the analysis.The results show that the manipulator has good dynamic characteristic,its strength and stiffness have a large margin.The optimization design of the manipulator can be carried out under the conditions of ensuring the structural strength and stiffness.(5)Topology optimization and size optimization module in Workbench are used for structural optimization design of the robotic arms.After optimization,the mass and the inertia of the manipulator are reduced,and its dynamic performance is improved at the same time.