The Statics And Dynamic Characteristics Analysis Of The Cotton Barrel Handing Robot

With China's industrial transformation and upgrading, rising labor costs and the need for intelligent development, "machine substitutions" phenomenon is widespread in the industrial field. In the textile industry, for the labor-intensive status quo, as well as cotton workshop high temperature and humidity high noise environment. A kind of equipment used for the replacement of the cotton bucket in the front spinning stage is ready to come out. Literature research shows that, the principle of properly solving such technical problems has not been reported. Based on the requirements of handling and replacement of cotton buckets in textile workshop, this paper designed a composite robot composed of AGV and Cotton Barrel Handling Robot, and carried out a major research on handling robots. Mainly carried out on the design of robot body structure and selection of drive motor selection, static analysis, dynamic characteristics analysis, dynamic simulation and experimental test work.Taking the Cotton Barrel Handling Robot as the research object. The mechanical structure of the robot body was designed in this paper. According to the requirements of the work of the cotton workshop, it is determined that the structure type of the robot to be designed is a four-degree-of-freedom joint robot with high flexibility. The driving mode and driving motor selection design are given, and the mechanical body structure of each part of the robot is established. The three - dimensional structure model is designed and tested by Solidworks. The model of the motor and the reducer selection for the robot is determined through calculation.The static analysis of the Cotton Barrel Handling Robot is carried out by using ANSYS Workbench software, and pointed out the weak link of the robot, optimized the robot, and also improved its strength and stiffness. On the basis of the static analysis, the three typical pities of the Cotton Barrel Handling Robot are analyzed modally, the inherent frequency and shape of the structure are obtained, and the scheme of improving the structure stiffness is improved by improving the structure,increasing the thickness or changing the material to provide the theoretical reference for the subsequent processing. It is especially important to design the prototype. The dynamic simulation was carried out by Adams to verify the size of each joint and the correctness of the selected motor, which laid the f oundation for the later finite element analysis of key components.In order to further verify the rationality and reliability of the design scheme, the robot has been systematically debugged and tested. Completed the robot processing,installation and commissioning, the rationality and feasibility of the robot structure design and operation trajectory are verified, the accuracy of the distance of the robot is tested, and the main factors that influence the accuracy of the position distance are pointed out. It is suggested that the distance accuracy of the robot can be improved by establishing the distance error calibration model of the robot.On the basis of consulting a large number of Chinese and foreign related technical literature, a design scheme of composite robot with AGV and lightweight handling robot is proposed in this paper.Through the comparison and calculation, the mechanical structure of the moving robot is determined. Through the three-dimensional modeling and static analysis,the structure of the moving robot is optimized. Through the modal analysis and dynamic simulation of the moving robot,the structure of the key mode of the dynamic characteristics of the mechanism is clarified, and the correctness of the joint force and the selection of the motor are verified.Through the system debug and test of the robot, the design idea and the rationality of the scheme are verified, and the satisfactory operation effect is obtained.It provides a reference for the future to promote the intelligent and unmanned textile workshop.It is of great significance to alleviate the labor-intensive situation in the textile industry and improve the workers' working environment and solve the problem of "labor shortage".