高效锻造喷墨机械手设计及运动学分析  

Design and Kinematics Analysis of High Efficiency Forging Ink-jet Manipulator

作　　者：周鹏中 ZHOU Pengzhong(Lianyungang JARI Automation Co.,Ltd.,Lianyungang 222006,China)

机构地区：[1]连云港杰瑞自动化有限公司,江苏连云港222006

出　　处：《机械工程师》2023年第9期137-139,共3页Mechanical Engineer

摘　　要：针对目前锻造行业模具冷却润滑存在的自动化程度低、石墨乳喷涂不均匀、适应性差等问题,设计了一种高效锻造喷墨机械手。通过直线+旋转的两自由度运动组合,实现机械手末端喷嘴的任意点可达,并通过运动学建模实现拟合模腔的喷涂路径规划。同时增加摇摆动作,进一步扩大喷涂的覆盖范围,提高涂层的均匀性。与现有的喷墨形式比较,具有结构紧凑、稳定可靠、适应性强的特点,适合在锻造自动化生产线中大范围推广应用。Aiming at the problems of low automation,uneven graphite emulsion spraying and poor adaptability in the cooling and lubrication of die in forging industry,an efficient forging ink-jet manipulator is designed.The arbitrary point of the end nozzle of the manipulator can be reached through the combination of two degrees of freedom motion of straight line and rotation,and the spraying path planning of the fitting mold cavity can be realized through kinematics modeling.At the same time,the swing action is increased to further expand the coverage of spraying and improve the uniformity of the coating.Compared with the existing ink-jet forms,it has the characteristics of compact structure,stability,reliability and strong adaptability,and is suitable for large-scale promotion and application in the automatic forging production line.

关 键 词：锻造 石墨乳喷涂 机械手 MATLAB 运动仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置] TG315[自动化与计算机技术—控制科学与工程]