The Design And Research Of Manipulator For Automated Pulp Plate Static Balance Detection Device

With the rapid development of China’s paper industry,the demand of automation degree of pulp production process has been generally raised.The most critical balance testing technology of pulp mill has restricted the automation degree of pulp mill to a certain extent,which has become the key problem to limit the production efficiency and quality.The manipulator of the high efficiency automatic pulp mills static balance detecting device is to improve the automation degree of the static balance correction process of the pulp mill piece.It has high application value to reduce the labor intensity of workers,to improve production efficiency,to meet the actual work target demand,and to have a high automation level automatic balance detection device manipulator research.With the support of the actual project of the enterprise,based on the existing static balance detecting device of the pulp mill,the mechanical structure modeling,simulation optimization and control system design of the manipulator of the automatic pulp mill static balance detecting device are studied,and the specific work is as follows:Firstly,through the analysis of the structure and working principle of the automatic pulp mill static balance detecting device,the working environment and technical requirements of the manipulator of the automatic pulp mill static balance detecting device are determined,and the manipulator scheme of industrial robot type,AGV car lifting type,gantry type and three-dimensional type are designed in combination with the requirements,and the three-coordinate manipulator design scheme is determined after comparison and analysis.Secondly,modeling and virtual Assembly of the manipulator of the automatic pulp mills static balance detection device are carried out.The stress-strain and displacement diagram of the clamped transverse plate is obtained by finite element analysis of the manipulator key parts of the automatic pulp mill static balance detecting device to the actual working condition.The modal analysis verifies the rationality of the manipulator.Based on the lightweight design idea,the topology optimization designs the optimized clamping transverse plate is 28.17% less than the previous quality.The stress,displacement and modal effect of the optimized clamping transverse plate is good,and the key components of the manipulator for the automatic pulp mill static balance detecting device are calculated and checked.It is verified that the manipulator of the designed automatic pulp mills static balance detecting device meets the design requirements.Finally,the visual system of automatic pulp mills static balance detecting device is designed and developed,and the image information is collected by using the visual system.The key parameters are extracted to obtain the target location information needed for manipulator movement.This paper designs and develops the manipulator control system of the automatic pulp mill static balance detecting device,uses the traditional PID to carry on the simulation analysis to the X Axis Direction motion module,and the simulation result verified the designed controller meet the accuracy requirement of the control system..This paper proposes and improves the method of the enumeration method to evaluate the combination optimization algorithm of the pulp grinding piece detection device and improves the detection efficiency.The Man-machine interface is designed,which realizes the debugging and automation operation of the manipulator.The practical application verifies that the design of automatic pulp mills static balance measuring device has achieved the design requirement,the user effect is good,and the research of this paper provides reference for the related design.