| Heat treatment is the key process of crawler board manufacturing.Traditional manual heating furnace has many problems,such as high labor intensity,low efficiency and poor safety.Introducing the industrial robot into the feeding and unloading system of the caterpillar heating furnace to form the automatic feeding and unloading system of the caterpillar heating furnace can improve the production efficiency and reduce the labor intensity.Therefore,it is of great significance.In this paper,an industrial robot is used for feeding and unloading of caterpillar heating furnace.According to the technological process of feeding and unloading of caterpillar heating furnace,an electromagnet and a caterpillar turntable are designed to realize the design of automatic feeding and unloading system of caterpillar heating furnace.The position,attitude and displacement of industrial robots and caterpillar board in space are described by matrix method.According to the size and irregular shape of crawler board,combined with the common standard stacking type in actual production,the layout of longitudinal and horizontal stacking caterpillar board is designed as the stacking mode of crawler board.Combining with the palletizing design scheme,the off-line programming,path planning,collision detection,interference algorithm analysis and optimization simulation of the upper and lower feeding system of the robot are carried out by using DELMIA software,and the technological links of the caterpillar board,such as feeding,overturning,feeding,cutting and palletizing,are realized.In order to solve the problem of crawler grasping by robot,electromagnet is used as the end operator of robot.According to the different types and weights of caterpillar board and the basic principle of electromagnet,the expressions of current,turn number and electromagnetic force are established.The electromagnetic force is controlled by controlling current,and the electromagnet is selected and designed.In order to make the robot accurately locate the space position of each crawler board in the longitudinal and horizontal stacking type,the overall scheme of the robot stacking is designed by establishing the serial number of the part,selecting the key points,establishing the expression of the part position and posture,and setting the basic parameters of the stacking.The six-axis joint angle-time relationship curve and simulation results show that the six-axis of the robot is continuous in the process of motion,and the robot can still run smoothly after contacting with the caterpillar board without any singular phenomenon.Therefore,the whole system has completed the function of automatic feeding and discharging of the caterpillar board heating furnace. |
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