Key Technology Of The Automatic Production Line Of The Shaped Charge Liner Based On The SCARA Robot

In order to enhance the competitive of the company, making the production process more efficient an automatic production line of the powder petroleum perforation bullet is urgently needed. Joint-supported by Wuhu, Ma'anshan and Hefei robot industry gathering area project of the State Developmet and Reform Commission and the machine replacing people project of the Sichuan Petroleum Perforating Equipment Co.Ltd. This paper is focused on the key technology of the automatic production line of the powder petroleum perforation bullet based on the SCARA robot. Key technologies such as strructural design of the SCARA robot,End-effector, control system, Electro-mechanical system debugging, to solve the bug and operation fault of are included. The following works have been done:The general scheme of SCARA robot was determined and completed by the field condition of the machine replacing people project of the Sichuan Petroleum Perforating Equipment Co.Ltd.The robot's three-dimensional(3D) model and end-effector were designed based on powder liner production process and environment combined. This robot use a three separation-type(ball screw, ball spline, cylindrical guide) to built wrist hand structure,improving the wrist stiffness. Firstly, the robot's 3D model was drawn by SolidWorks.Then,SCARA robot kinematics model is established based on D-H method, and the kinematics analysis is carried out, and the working space is written by MATLAB.The control system hardware configuration was built up by “PC computer + PCI Motion Control Card + Remote Communication Module” of the hardware configuration. The construction of software structure was establed on the basis of requirement analysis of the software. By using the software programming platform Labview as the upper computer. The software development of the core functional modules include the trajectory planning, the rutuen home adjustment, the single axis motion, the 4 axis linear movement, the automatic movement and so on.On the basis of the above work, a robot production line of prototpe is built. The movement program was compiled according to field conditions. Gradually carry outthe experiment and testing worlk until the delivery of customer acceptance: Firstly,the simulation test was done by using bare machine, including rutuen home adjustment test, single axis motion, the 4 axis linear movement, key points planning experiment, the automatic movement, manual single running and automatic cycle operation to verify the feasibility, security and accuracy of the designed control system. Then the production line was build, delivery of goods to a powder liners production plant of prtro-china. Under the actual working conditions, the whole combined debugging of powder liners' s soft hardware of production system was tested. And then according to the operation failure of the system debugging, the software and hardware are modified and optimized.It has been showed during product that this new type SCARA robot meets requirements powder liners production and anticipated effect is achieved. This paper can offer as a reference to the design of the similar products.