| With the increasing degree of automation in iron and steel enterprises, the productive efficiency and quality in many links are significantly improved. But some links in the degree of automation is still very low, which restricts the productive efficiency. Palletizing link angle is one of them.Based on the above problems, a kind of angle automatic stacking machine is put forward. The angle automatic stacking machine has the advantages of simple structure, small volume, quick speed and accurate action, which can effectively improve the productive efficiency and quality. At the same time the problem of the existing stacking machine of low speed, inaccurate movement, low efficiency is solved. Compared with serial robot, parallel angle automatic stacking machine has a large stiffness, which can withstand greater torque and force.The topic takes two degree of freedom parallel angle automatic stacking machine as the research object. On the basis of geometric projection, the two degree of freedom parallel angle automatic stacking machine is equivalent to a planar mechanism which is analyzed of kinematics analysis and singularity. Combined with the actual data analysis, the structure of the steel automatic stacker is optimized. According to the relationship between tilt angle and the kinematic parameters, the guide rail is designed.Using the virtual mechanism method, constructing the equivalent mechanism, threedimensional space coordinate model is established. According to the conversion relation, the 3D model is transformed into a planar graph and the design space is finally got. Using the limit circle method theoretical work space of different shapes is got. Depending on the range of the connecting rod length, the optimal work space is determined.Using polynomial curve method, modified sine curve method, trapezoid curve method, the maximum acceleration of angle steel automatic stacker is researched. According to the actual situation, operational cycle and running path angle is obtained. Finally, according to the actual situation the most suitable method for trajectory planning is selected. The trajectory planning of circular arc curve is got.The use of Lagrange’s method for dynamic analysis of angle steel automatic stacker establish inverse model and dynamics equation and calculate the driving force of the sliding block. According to the axial load and the screw servo motor instantaneous maximum output torque, the suitable servo motor is selected.Based on the above theoretical analysis, angle steel automatic stacker is consistent with the actual conditions and its movement is efficient, stable. It not only can promote the efficiency of production of iron and steel enterprises, but also deepen the degree of automation on the iron and steel enterprise. |
