| Industrial robots play a vital role in the field of modern production and manufacturing.In order to improve the utilization efficiency of industrial robots,it is often necessary to install the quick change device at the end of the robot,which can make the robot grab different operating tools according to the instructions to carry out a variety of operational tasks,realize the robot "one machine with multiple capabilities",and greatly reduce the equipment input cost of enterprises.At present,most of the robot end tool quick change devices used in the market are mainly medium and light load,and the working load is generally between10kg～500kg.However,for higher grasping load operation requirements,the traditional quick change device often appears the wear or damage of the locking parts,resulting in the quick change device main disk and tool disk can not carry out normal docking and switching,seriously affecting the reliability and stability of the product in the process of use,therefore,most of the current heavy-duty industrial robots still use a single tool for operation.Considering the large demand for heavy-duty quick change device in the modern industrial robot market,this paper aims to design a heavy-duty robot end tool quick change device with a load capacity of 1500 kg.Related research has been carried out on the selection and analysis of key parts of the quick change device,design and optimization of the overall structure,assembly tolerance analysis and optimization,structural fatigue strength and dynamic simulation,etc.The specific work is as follows:(1)By referring to the latest literature on the quick change device of robot end tools at home and abroad,the important technical parameters of existing mainstream products were compared and analyzed.In view of the shortcomings and defects of the existing quick change device in the actual use process,a detailed design scheme of the quick change device of robot end was developed,and the core task and analysis process were defined.Considering the fact that the bearing capacity of the traditional robot end tool quick change device is mainly limited by the small bearing capacity of the disc spring joint,a new type of spring pressure switch joint is designed and analyzed,and the structure of the lock module,switch module and tool plate of the quick change device are respectively designed and analyzed,and the structure scheme of the quick change device is obtained.(2)Based on the finite element simulation software ABAQUS,four typical working conditions and two extreme working conditions of the designed heavy-duty robot end tool quick change device were simulated and analyzed,and the structural strength of the product under extreme working conditions was verified.Based on the existing experimental conditions,the ultimate tensile test,ultimate bending test and handover fatigue test were carried out respectively to verify the accuracy and effectiveness of the simulation analysis method.(3)In order to ensure the smoothness and convenience of the designed heavy-duty robot end-tool quick change device in the process of quick change,taking the important parts of the locking mechanism of the quick change device as the research object,high-cycle assembly simulation of the key mechanism of the quick change device was carried out based on Monte Carlo algorithm,and the assembly tolerance of the product was optimized and improved.Reduce the manufacturing cost of products.(4)Based on the Brown-Miller combination strain algorithm,the high cycle docking analysis of the switching process is carried out,and the cycle service life of the quick change device is checked,which effectively guarantees the reliability and stability of the quick change device.Finally,the multi-body dynamics simulation software is used to simulate the locking process of the quick change device under actual working conditions,and the dynamics simulation of its moving components is carried out,and the results are analyzed and studied to verify the feasibility of the quick change device in terms of movement. |
PDF Full Text Request