| With the rapid development of industrial automation, robots have been increasingly used in modern industrial production. For a wheel hub producing factory which still used manually handling method when transporting the products, this paper designed a handling robot for them. Automated transport hub could be achieved in the process of inter-conversion between tables and conveyor belts, thus reducing the hub production costs and improving products quality and production efficiency.According to the structure and characteristics of the moving object of the hub, this paper investigated each robot joint component and the overall structure, designed the overall size and shape for each robot mechanism, and realized their three dimensional modeling by SolidWorks. On this basis, in order to verify the rationality of the mechanistic design, the paper made finite element analysis of the key parts during the movement of the robot by ANSYS Workbench to obtain the displacement and stress cloud, and made the corresponding modification and adjustment.Simulation of the robot motion was performed on the basis of the overall structure of the robot determinate. D-H coordinate system was established based on robot kinematics, the total transformation matrix was derived through forward kinematics, and expression of each robot joint variable was derived according to inverse kinematic. Meanwhile simulation software MATLAB was used to mode for manipulator structure to make a simulation for this.The rationality of the manipulator structure design was further verified by the displacement-time curve obtained for each joint simulated.The robot-driven approach was investigated. In order to ensure the load and movement stability, the hydraulic drive system was designed using hydraulic drive according to the features of the overall structure of the robot, and the system schematic was plotted. On this basis, the simulation for dynamic characteristics of the hydraulic system was made using AMESim for each motor and hydraulic cylinder, from which the corresponding time curve was obtained to verify that stability of the hydraulic system, and improvement was made for the hydraulic system simulation, so as to ensure accuracy and reliability of the hydraulic system design.Finally, in the light of the shortcomings such as difficulties in maintenance, higher cost, more complex programming, and difficulty for the workers to grasp, as compared to traditional industrial robots dedicated controller, the PLC robot control system was investigated using the existing equipment of the factory. Used Mitsubishi FX2N Series PLC, the PLC control system hardware was designed according the need of control, the workflow for the robot within one cycle was formulated, the control system PLC ladder program for this workflow was designed, and the handling robot control system was designed to achieve control of the robot... |
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