Design And Research Of Crucible Handling Robot

With the advancement of science and technology and the development of productivity,modern industrial technology is gradually changing the traditional manual operation methods,and instead looking for advanced industrial robots to replace the manual to achieve the overall automation of the manufacturing industry.However,the application of industrial robot technology also faces many difficulties,and different industrial robots need to make corresponding changes according to the characteristics of the field environment.This subject designs a crucible handling robot based on a servo control for a crucible handling production line,which is a type of rectangular coordinate robot.This type of robot has the advantages of low cost,high accuracy,and good stability,and can meet the space environment requirements of on-site handling.It is a good substitute for manual handling and realizes the automation requirements of on-site handling production lines.The main contents of this thesis are as follows:First of all,according to the space requirements of the workshop production line and the requirements for handling the fused-molded quartz crucible,the structure of the crucible handling robot was determined by analyzing the handling robots of different structural forms.The overall structure and key components of the robot were designed and established.The three-dimensional model of the crucible handling robot is calculated and selected for the drive motors of each part of the crucible handling robot.The static check of the key components of the crucible handling robot and the transient dynamic analysis of the crucible handling robot under typical working conditions were completed by Ansys software to ensure its structure has sufficient mechanical strength.Secondly,the modal and dynamic properties of the crucible handling robot are studied.Use the finite element analysis module Simulation simulation platform to perform modal analysis on the system under no-load and full-load conditions,and extract the first six natural vibration modes and natural frequencies of the system,analyze the impact of the vibration mode on the system,and the calculation shows that the crucible handling robot The working environment will not cause system resonance;a pure rigid body model and a rigid-flexible coupling model of the crucible handling robot are established on the ADAMS multi-body dynamics simulation platform,and the third-order triangular Betz equation driving function is used to smooth and safe the movement of the handling robot.Sex was studied.Thecomparison results show that this form of driving function can effectively reduce the vibration amplitude of the beam when the system is started and stopped,and improve the accuracy of crucible pickup and the stability of the system movement process.Finally,the servo control system of the crucible handling robot is designed,the control system hardware and software are designed,the control program is written through the GX Works2 programming software,and the human-machine interaction interface is designed in conjunction with the system operating process and operating habits.The combined use of PLC realizes the dynamic monitoring function of the system more intuitively,which improves the reliability and operability of the system.This paper has 81 pictures,12 tables,and 82 references.