Research And Design For The Crank Moving Manipulator

Presently, part of our Chinese corporations are still using the manpower to make the motion and orientation of work pieces in production and manufacture of the products, in part resulting in the problems such as the heavy working intensity, weak safety, poor flexibility of manipulation, low precision of orientation, and so on, which affect seriously the quality of the products and the benefit of the production. With the development of the science and technology and the application of the automobile product line in the production, the manipulator, who serves as the important part of the automobile product line, has also experienced dramatic progress and development. Especially with the improvement of the structure of the machine, the maturity of pneumatics and hydraulics, and the constant improvement of the control element such as the singlechip, PLC, the motion controller, and so on, and the ceaselessly ameliorative and innovative control mode, the precision, delicacy and reliability of the manipulator has been improved expressly, which contributed to alleviating the worker's labor intensity and difficulty, boosting the working efficiency and quality, reducing cost, as to play an extremely important part in the development and income of the corporations.In accordance with the practice of the ShenLong automobile corporation (ltd.)'s demand of the engine's crank product line, the text will research into the problem of the automatization of the crank's move between two product lines, compare with the manifold realization means of each system, and confirm design project that the mechanics, electrics and pneumatics are used together. The pneumatic, electric and mechanical are combined agreeably in the coordinating actions of the manipulator, they could complement the deficiency with the other's advantage. In this equipment, the scratch and discharge of the work pieces is realized by a cylinder, and the motions of the work pieces is completed by two servo electromotor. Meanwhile, the writer adopts the SIEMENS's SIMATIC S7-200 series of PLC as controller, and made use of the SIEMENS's TP070 touch-screen to realize the alternation between the machinery and manipulator. It is sure that the task is completed more safely, steadily, well and truly.Firstly, the writer introduces the resource, content and practical application value of the thesis, and reviews the development of robots inside and abroad, and introduces the sort of robots, and enumerates several hackneyed robots in manufacture, life and high-tech.Secondly, the writer introduces the gist of research, designs the machine system project of the manipulator, confirms the gantry configuration and the realization way with the machinery, electricity and gas-motivated and draws the machine configuration picture of master parts.Thirdly, the writer analyses simply the kinematics of the manipulator, designs the project of driving system and transmission system, selects and checks cylinder, thread-bar, guide, servomotor and so on.Then, the writer introduces the application of the PLC in moving-control of the manipulator in detail in two respects of hardware and software, analyses and researches workpieces'examination, manipulator's orientation, portage, timing, cushion and communion between man and machine .Finally, the writer summarizes the whole thesis and points out the amelioration, perspective and developing direction of the manipulator.The subject is a practical item where the mechanics, electrics and pneumatics are integrated very closely. The writer has made a necessary discussion in the application of PLC, the optimize of mechanical structure and the study of control mode and researches into the mechatronics. Many valuable and applied experiences are accumulated in integrated design.