Design And Research Of Heavy Duty Pouring Robot Executive System

The continuous development of new technology and technology has put forward new requirements for casting production mode.In order to improve the working mode and production environment of casting operation and improve the quality of castings,it is urgent to develop advanced casting production equipment and improve the level of automation and intellectualization of casting production equipment.Based on TRIZ theory and traditional mechanical equipment design method,a design scheme of 300 kg heavy-duty pouring robot is proposed in this paper.Parallel mechanism is used as the actuator of the executing device.Based on TRIZ theory and combined with the design requirements of pouring equipment,the concrete idea of the design scheme of heavy-duty pouring robot is given.2UPR-2RPU parallel mechanism is used as the execution mechanism of heavy-duty pouring robot.Based on the topological structure of the device,an actuator for pouring pouring liquid was designed.The problems of mechanical interference,spatial arrangement of parallel branched chains and size design of static platform in the design of the actuator were analyzed by means of matter-field model,contradiction matrix and standard solution,and the corresponding technical scheme was put forward.Based on the mechanism topological structure and spatial mechanism theory,it is determined that the actuator has three degrees of freedom.The inverse position equation and branch velocity equation of the actuator are established.The motion characteristics of each branch chain and the workspace of the actuator are analyzed,which provides a theoretical basis for the design of the actuator.The consistency between kinematic parameters and design parameters such as the length,speed and running distance of the branched link of the actuator is verified by using ADAMS and MATLAB software.The static force of the actuator is analyzed.In the process of pouring pouring liquid,the quality of pouring liquid in ladle decreases continuously.Therefore,the relationship between the quality of the remaining pouring liquid in the ladle and the rotating angle of the ladle is given,and the relationship between the force magnitude of the parallel branched chain L1 and L3 and the rotating angle of the ladle under variable load is solved.The maximum force of the branched chain is 11250 N.ANSYS Workbench software module is used to check the stiffness and strength of the branched chain of the actuator,and the optimal design of the structure size of the actuator is completed.Aiming at the problem of fixed-point pouring,the pouring mechanism of the executing device was analyzed,and the flow-line model of the pouring liquid during fixed-point pouring was established.The relationship between the outflow velocity of the pouring liquid and the turning angle of the pouring ladle in the process of fixed-point pouring was analyzed.The flow-line model was simulated by ANSYS Fluent software,and the characteristics of the outflow velocity of the pouring liquid during the rotation of the pouring ladle were studied to control the pouring speed of the executing device.The system provides a reference.Figure [75] Table [11] Reference [82].