Design And Research For Push Type Detection Manipulator

In the current process of intelligent toilet detecting,the detector fixture is inflexible,Labor-intensive of the operator and low efficiency.In order to improve the reliability of the life cycle detection machine,we proposed a new type of intelligent toilet detection device manipulator.This paper describes the working principle and hardware implementation of the new manipulator.Research in this paper reflects in the following aspects.To make an analysis on the original pressure detection conditions,design a brand-new detection program depend on the equipment working conditions which using a portable manipulator inspection.The structure design and gas system of the manipulator are based on the researches of manipulator like:number of degrees of freedom,accuracy,repeatability,range of motion,maximum working speed and load capacity.Confirming the design stability of the manipulator by checking the manipulator itself and sub-assembly parts,especially make static analysis for the link components.Finally,make fatigue analysis to operating state of the manipulator to ensure the safety and stability of the manipulator.In general,there have 2 kinds of control mode on manipulator control like:automatic control and manual control.Made study of system control model and structure,includes overall structure,control flow and the function for each sub-module.Make study and analysis on 5 key modules like,the PC monitoring module,controller module,driver module,execution module and sensor module.Finalized the control scheme and complete workflow.then also add the electrical installation module.Through the selection of several modules and combined them to achieve intelligent control of the manipulator.PLC-based manipulator control system design is based on working conditions andrequirements.Make analyze for control mode of the manipulator from the programmable control system theory.To design the PLC output/input,control system front end and back end circuit.Making specific design process based on the actual operation of the manipulator by adopting the SCL language in design manual and automatic operation procedure respectively and complete PLC program.Finally,it describes how to connect the various parts and the corresponding control wiring,etc.According to the mechanical structures mentioned before,make drawings for each components of the manipulator and assembled into an assembly model by SolidWorks.Split the manipulator working flow into step by step.And import every step into‘SolidWorks Motion' according to the chronological order to achieve the virtual locomotion emulating for the manipulator and generated animation for the emulating.Make analysis of the manipulator locomotion emulating,includes speed on every directions and motion trail to show parameters of each parts and reflects the lack of this design.This will help provides intuitive and efficient theoretical basis with detection program improvement in future.Through above working items,manipulator can achieve the desired working requirements.and also reached the design purpose and requirements for this paper.The improved detecting manipulator having such features like: high degree of automation,large detection range,high detection accuracy and easy maintenance.