The Development And Application About Robot Of Dust Cover On The Vehicle Absorber

Nowadays, in the industrial environment, with the rising cost of human resources and scarce, and some bad industrial environment, make a lot of industrial enterprises in the recruitment difficult, expensive and low efficiency of the recruitment of employment,this all need to be solved actually, these problems may affect the efficiency of production and operation of enterprises directly, and even affect the development and survival of the enterprise.Combing with fields in research,the design and manufacture of industrial robots that suitable for enterprise production is important,this enterprises need robots in reality.And the more and more mature theory, modern control technology have become market-oriented, the use of the hardware and software is becoming more and more mature, stable, the price also is lower and lower, which makes the industrial application of industrial robots will more wide and urgent. At the same time,industrial robots that match the environment about production site is becoming more and more conform for the needs of the enterprise.Firstly, analyzed the corresponding research status about overloading type of rectangular coordinate robot at home and abroad, in view of the actual production put forward the corresponding structure design, this paper proposes a parallel 2-dof manipulator. The simplified model of the manipulator was established based on Pro/e software, the movement of the entire working process is simulated. Based on working space, and puts forward the prototype trial production plan, combined with production practice experience, developed a prototype mechanical parts of the manipulator. At the same time, puts forward the control scheme of the robot, the horizontal and vertical part of the bearing design about manipulator motion mechanism, carrying ontology of the manipulator, at the end of the actuator is designed, also the corresponding pneumatic system are designed and implemented. The key institutions of stereotypes is designed at the end after the test.Secondly, finite element analysis was carried out on the prototype mechanism, the stress of the validation prototype was qualified, but the margin is bigger.Through the finite element statics analysis was carried out on the key structure, maximum displacement of the key points is 0.5 mm, not exceed the specified value of 1 mm, maximum stress value of 10 mpa, chooses the structure of the stress allowance is bigger, analysis the results meet the requirements.Finally, the model of robot kinematic simulation analysis, the robot body position at the end of the displacement, velocity and acceleration curve motion simulation analysis, the displacement and speed curve is good, the acceleration curve is not conform to the actual working condition of operation, proposed to use real robot control program to improve, get a better condition of acceleration and deceleration, preventing mutations caused by shock and deceleration speed. Machine hand claw at the end of the hand claw rotation angular velocity curve state have no impact on the motion state and the phenomenon of mutation, kinematics in good condition. Through analysis on the kinematics simulation, robot each corresponding institutions without interference phenomena, such as the rationality of the design of motion mechanism was verified,Also verify the kinematics characteristics of the new machine is better than that of the prototype structure.The robot can run, the robot repeated positioning accuracy to 0.5 mm, preliminary system prototype meet the requirements.