全自动汽车半轴生产线终锻上料机械手设计

Design of loading manipulator in final forging for automobile half shaft automatic production line

简述了某企业汽车半轴锻造生产线的组成及工艺流程,针对该汽车半轴锻造生产线的自动化需求,设计了一套终锻上下料机械手,并研发了其控制系统。所设计的终锻上下料机械手包含手部夹持部分、机械手的腕部、机械手的手臂。夹持部分采用双杠杆式四触点夹持设计,通过夹持机构的受力分析,对夹持动力气缸进行了选型。为了满足终锻上下料的工艺要求,对腕部旋转机构进行了设计,并对其中关键部件进行了有限元分析。控制系统采用固高GUC-Ether CAT运动控制平台,在Oto Studio环境下实现了伺服电机的精确控制及各个相关I/O信号的合理控制,开发了人机交互界面,最终实现半轴锻造生产的全面自动化。

The composition and process of the automobile half shaft forging production line for an enterprise were briefly described,and based on the automated demand for the automotive half shaft forging production line,a set of loading and unloading manipulators for the final forging was designed. Then,its control system was developed,and the designed loading and unloading manipulators in the final forging included the clamping part of hand and the wrist and arm parts of manipulator. However,the clamping part adopted the double-lever and four contacts clamping design,and the selection of clamping cylinder was conducted by the force analysis of the clamping mechanism.In order to meet the technical requirements of loading and unloading in final forging,the wrist rotating mechanism was designed,and the critical components were analyzed by finite element method. Furthermore,the control system adopted the Google GUC-EtherCAT motion control platform and realized the precise control of servo motor and the reasonable control of each relevant I/O signal in the condition of Oto Studio,and the human-machine interaction interface was developed to realize the full automation of half shaft forging production finally.