The Design And Research Of Loading And Unloading Manipulator Of The Punch Press

The advancement of modern manufacturing technology promotes the development of stamping production towards the direction of high speed, automation and intelligence. Most of the traditional stamping production by special machine and manual loading, and this mode of production has been unable to meet the requirements or to the increasingly rapid development of industry. Now, the introduction of automated production units and the establishment of flexible automated production line, not only can achieve high efficiency, high speed, but also can improve the quality and precision of product processing, at the same time, it also opens an important development direction of stamping production technology. The punch press manipulator is on the basis of the automation equipment, it is specially designed for the realization of the automatic production and the research and development of the intelligent equipment, so it can indirectly or directly instead of artificial materials for the taking, handling and stamping up and down materials and other work in the relevant stamping station, thus greatly improve production efficiency and quality.In this paper, combined with the sheet metal chassis stamping process and the work characteristics of the press, completed the analysis of the whole system’s demand analysis, determine the mechanical hand design and technical parameters of the overall demand. According to the overall design requirements, to compare and select the drive and transmission schemes of various mechanical systems, the mechanism design of the mechanical hand of each degree of freedom structure was completed, and using SolidWorks software to build a three-dimensional model of the manipulator, the servo motor, ball screw, synchronous belt and the suction cup and other key components of the mechanical hand selection calculation. Through the analysis and research of the basic theory of Robotics, and the coordinate system of the manipulator was established according to the D-H method, the forward and inverse kinematics equations of the manipulator were calculated and studied, and through the MATLAB software for trajectory planning and inverse calculation and point-to-point motion kinematics of manipulator, from simulation curve and the operation results, to prove the stability of the movement of the manipulator.Finally, the control system of the manipulator was designed. With Mitsubishi Q series PLC as the core controller, AC servo motor as the driving member of the manipulator, the QD75MH4 positioning module was added, and the servo driver was assembled into a closed loop servo control system via the SSCNET communication bus, and the control system schematic diagram and electrical wiring diagram were designed. In addition, combined with the working process and control requirements of the manipulator, the input and output ports of the system were allocated. With GX Works2 software to prepare the corresponding PLC program, through the commissioning and operation of the program, the robot can achieve a certain speed and position accuracy. Application of DOPSoft software to write and configure man-machine interface, through the simulation and debugging, the control and communication of the manipulator was completed.