R&D Of Feeding And Unloading Manipulator For Coupling Processing Machine

As the quick increase of the requirement of coupling in the recent years, the coupling processing lines need to be more automatic. The paper designed a robot for loading and unloading coupling for coupling processing machine, which can improve the efficiency of processing coupling a lot. The content of paper was arranged as follows:In the first chapter, the research situation and direction of robot in china and oversea are presented, the correlative technology of the project is stated, the research background and of the project are provided.In the second chapter, the general mechanical structure of the robot is designed, the working process of the robot is provided, the key parts of the robot, such as the clamping structure, the clamping cylinder and the longitudinal moving shelf are designed.In the third chapter, the general hydraulic system of the robot is designed, the structure and principle of the hydraulic system are presented in details, the key parts of the hydraulic system, such as cylinders, electro-hydraulic proportional valves,. oil tank and oil pipes are chosen by computing. At the last, the performance of the hydraulic system is checked by computing to assure its reliability and security.In the fourth chapter, the math models of the unsymmetrical cylinder controlled by unsymmetrical valve is established firstly, how it solve the problem of stress saltation is explained in theory; Then the math models of the electro-hydraulic proportional position control system is established based on the math models of the unsymmetrical cylinder controlled by unsymmetrical valve; At the last, the dynamic analysis of the system is made in Simulink, the three parameters of PID control is gained.In the fifth chapter, the general electric control system is designed, the method to carry out the electric control of the electro-hydraulic proportional position control system and motor servo control system is explained in details, the application of SIMOTION D425 and PROFIBUS in the system is presented, the PLC programmer is given.In the sixth chapter, the R&D of the manipulator is summarized and prospect of improving the manipulator in future is presented.