Automatic Loading And Unloading In Machining Operation Of Intake And Exhaust Sides On Automobile Engine Cylinder Head

The volume and weight of automobile engine cylinder heads are relatively large,and lifting tools must be relied on during the loading and unloading process.When the production line was first established,the loading and unloading were completed by manual operation of electric hoists.However,this method is not only inefficient,but also has huge security risks.In order to solve this problem,this topic takes the automobile engine cylinder head handling robot workstation as the research object.On the one hand,it completes the design,selection and verification of the robot automatic clamping device and other equipment,and on the other hand,it focuses on the research of robots in the context of practical applications.Trajectory planning algorithm and simulation verification completing.This helps companies improve equipment safety,reduce labor intensity,and improve production efficiency.The main research contents are as follows:By studying the production process of the cylinder head production line,and analyzing the production status,at the same time,according to the production cycle requirements,the technical difficulties of the production line are found.In response to this problem,this project selected the KUKA KR210 series industrial robot as the main equipment for the project transformation based on the actual situation.According to the robot structure and size parameters,the D-H method was used to establish the kinematics model of the KUKA KR210 robot,and the MATLAB was used to establish the control simulation.Through simulation and comparison of the results of forward and inverse kinematics,the correctness of the motion model is verified,which provides a theoretical research basis for the subsequent analysis of robot motion characteristics.Due to the extremely high tempo requirements of the production line,the conventional robot handling process cannot meet the actual requirements,and then the robot needs to be studied separately from the two aspects of running trajectory and tempo optimization.Through innovative design of rotatable robot end fixture,the structure design of robot automatic clamping device.The automatic clamping device is designed into a structure with two pins positioning on one side and a workpiece clamping on both sides.The strength and stiffness of the clamping device are checked to meet the design indicators,thereby greatly optimizing the trajectory stroke.At the same time,the optimal trajectory is optimized by the fifth-order polynomial method,and the theoretical calculation beat meets the requirements of the site.Through simulation,the correctness of the optimization is verified.Based on MATLAB Robotics Toolbox,complete robot kinematics modeling,workspace analysis and simulation verification of trajectory planning.The simulation research on the motion characteristics of each joint of the robot in the optimal state of the beat.The results show that the optimized joint motion characteristics of the motion process are in line with expectations.Based on the actual application in the cylinder head production line,the robot can carry out production operations according to the planned operating characteristics,which verifies the effectiveness and significance of the theoretical analysis,and also provides a large amount of field practical experience for the actual production,for a deeper level of development The research on robot motion optimization provides favorable conditions.