Design And Development Of Feeding Robot For Vulcanizing Machine

With the rapid development of China’s tire industry, the requirements for theautomation is more and more high, using industrial robot to finish the feeding and theundowning work for the vulcanization machine become more and more common in themodern tire enterprises. However, the automation degree in most domestic small tireenterprises is low, especially in the vulcanizing process, because of the hightemperature, high pressure and the special situation of the adhesion between tire andmould when the mould open,which creates the situation of low automation level insmall tire enterprises, and the production environment is relatively bad, the laborintensity of workers is high and the accidents is dangerous. There is an urgent need fora industrial robot to replace the worker to finish feeding an undowning work for thevulcanizing machine, so that not only can reduce the labor intensity, improve productionefficiency, but also enhanced the production safety, bring great economic benefits forthe small tire enterprises.Considering the actuality mentioned above, the paper mainly focus on theindustrial robot driven by ac servo for the small and medium-sized tire enterprise,which has the ability of fast and precise positioning to comple the feeding andunloading work for the tire vulcanizing machine, meet the production requirements oftire vulcanizing process. In the subject, the robot system mainly includes two parts:machine system and control system.The main contents of this paper include:①According to the robot’s actual requirments to determine the mechanicalparameters,build the three-dimensional model and the tire clamping device by the Pro/Esoftware, and test the model to check the reasonable of mechanical structure. Basedon the comparison of different driving modes, determine the electric servo and the robotdriver. Produce a physical prototype after determine the robot mechanical structure.②Based on the robot base coordinate system, according to the relevantrules,establish the robot joints coordinates, determine the robot’s D-H parameters,through the homogeneous coordinate transformation to solve the forward solution andthe inverse solution of robot kinematics. Based on the Matlab simulationplatform,establish robot simulation model by Robotics toolbox, check the kinematicsforward and inverse solutions. ③Elaborate two kinds of trajectory planning method of joint space and Cartesianspace, Including the cubic polynomial interpolation,the fifth polynomial interpolationin joint space and the linear interpolation in Cartesian space, and compare theirrespective advantages and disadvantages.Make relevant experiments in joint space andCartesian space,by robotics toolbox in matlab software，and analyzed the simulationresults.④According to the design requirements of the robot control system, adopts theidea of modular design to determine the design scheme of the control system. At thesame time, analysis each module, and the working principle of the motion controller,sensor, ZIGBEE communication module and HMI, and introduce the software systemfully.