| This project designs assembling manipulator which completely controlled by air. In the circumstances of load weight exceeding greatly load index, the problems that heavy operating strength and slow move speed have been solved efficiently.This dissertation mainly designs pneumatic balance system by air operated precision regulator and low friction cylinder on the basis of analyzing existing pneumatic balance circuits and its problems. All kinds of function modules of pneumatic balance circuits have been designed such as air press regulation, loads switch, execution control, decompression protection and residual pressure exhaust. According to the experiment of balance circuits, balance circuit is improved when weight is beyond the range of load weight; Analyzing operation principle of pneumatic balance circuit, motion characteristic of cylinder of mathematic model is built; Force - balance equation of interior amplifie is built on interior structure of precision regulator. Testing pressure stabilizing property and flow characteristic of precision regulator. Conducting experiment by means of PLC and software written by Delphi and MSComm, pneumatic balance system's hose caliber is determined. Otherwise, this paper also designs conveyor 's in-phase air controlled circuit which relates to pneumatic balance system.Applications show that making pneumatic balance technology of air operated precision regulator to loading manipulator can ease labor, enhance work efficiency, decrease the cost of manipulator in car-assembly product line. It has a active meaning for China auto industry. |
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