The Design And Development Of Actuators And Pneumatic System For Injection Molding Machine Robot

With the rapid development of injection molding industry, the requirements of injection molding automation degree are increasing. Injection molding machine manipulator can greatly improve the product quality and production efficiency, and avoid loss due to human error. Pneumatic drive system is safe and reliable, can be used in high temperature, shock, flammable explosive, multi-dust, magnetic, radiation and other harsh environments. For injection molding enterprise, equiped with a low cost, small size, easy operation, simple construction injection molding machine manipulator, has become a necessary means to improve market competitiveness.The issue study the injection molding machine manipulator, first, study the design process of actuator and drive system, and then optimize the design of the clamping mechanism to improve blessings. Finally, emulator analysis the virtual model of robot dynamics to provide data support to the design process. The main work as follows:(1) In order to enhance the robot’s versatility and interchangeability, make the robot get standard manufacture and application, completed the analysis and design of the robot actuators. First of all, we discuss the comparison and selection of robot coordinates, introduced work process and time allocation of each station. Then, we set out the basic parameters of the robot,designed module of the actuator. Finally, complete the establishment of three-dimensional model.(2) For the transmission and control module of implementing agencies complete the analysis and design of drive and control systems. First of all, discusses the comparison and choice of driven approach, design the basic aerodynamic loop and position control loop. Then, discuss the realization principle of pneumatic drive system, complete the selection and calculation of pneumatic components. Finally, determine the input and output points of control system,designed external wiring diagram, complete software design of control system.(3) In order to increase the clamping force of the clamping mechanism, complete parametric modeling and optimization design of robot gripping mechanism. First, describes the simulation principles and function of main modules about ADAMS, establishment the dynamic model of the clamping mechanism and simplify, test model by ADAMS software through parametric point, including parts, constraints and driver. Then, through refining the model, establish design variables, design research analyse all design variables respectively, get the degree of influence on the clamping force of design variable. Finally, complete the optimize design of gripping mechanism model by modify the design variables, through the multiple iterations of design point coordinates, find one of the most best point, and automatically generate a new prototype eligible, obtain design parameters of optimal organization performance.(4) In order to conduce the trajectory planning,prototype test and control design of manipulator in the future,complete the kinematics simulation and analysis of virtual manipulator.First of all,introduces the simulation analysis process of manipulator model.Then,import the manipulator model built by Pro/E into ADAMS, modify the basic parameters of the model,get the robot virtual prototype model in ADAMS environment.Finally, exert constraint and drive to model in the software,set the drive function,get the velocity, acceleration, angular velocity,angular acceleration curve.Through the analysis of curve data can shorten the cycle of development and technology improvement,saving development funds, enhance thequality of equipment.