Development And Research Of Loading And Unloading Manipulator Based On Stamping Press

Punching shaping is one of the most important method of hardware products forming,themethod of puching shaping of European-style gas grill’s parts is mainly cosist of loading andunloading equipment and stamping press.However,loading and unloading of stamping pressremains risks and hard conditions.Combined with the needs of enterprise transformation,torealize automatic loading and unloading line of grill’s parts.This paper investigated a situationof an enterprise’s stamping press line and analyzed the current situation and development ofstamping press line,discussed the important applications of industrial robots in stamping pressline,and proposed a solution of stamping press’ s loading and unloading manipulator controlsystem.This papaer investigated manipulator’s environment,designed the overall scheme as wellas the layout of the stamping press line with 3 manipulators and 2 stpamping presses,selectedthe manipulator’s coordinate system and four degree of freedom.Then designed the main bodyof loading and unloading manipulator,including building a manipulator’s 3-dimensional modelby solidiworks,the selected he driving mode of manipulator’s DOF respectively,the design oftransmission and the calculation of some key components;secondly.Simplified 3-demensionalmodel of loading and unloading manipulator,establishmented of a manipulator’s coordinatesystem based on improved linkage D-H method,and analsysed manipulator kinematics andkinetic,calculateed the positive and inverse kinematics solution of each rod,and an simulaiotnbetween two woring points in manipulator’s trajectory by MATLAB.From a view ofdisplacement,velocity and acceleration curve,the manipulator operates smoothly.Designed thecontrol system of loading and unloading manipulator,controlled the whole process withPLC,and the motion controller controlling the motion of manipulator,then designed thecontrol system of electric-gas module,sevor driving module and PLC program,including I/ Odistribution,PLC program,the external wiring diagrams.With a test in the field,stamping pressloading and unloading manipulator meet the needs of production.