Research On The Clutch Cover Stamping Line Handling Manipulator And Its Control System

With the development of modern manufacturing technology,the development of stamping technology is very rapid.In the automotive industry,the use of stamping technology is very common.The production of automobile clutch cover has been used in stamping process.In recent years,with the explosive growth of Chinese automobile,the traditional stamping production can not meet the demands of production.The use of automatic manipulator can improve the efficiency of stamping production line and reduce labor cost.A manipulator is proposed based on the stamping process of clutch cover,and the manipulator is designed and analyzed,the specific contents are as follows:(1)The structure of the manipulator was designed.Firstly,the stamping process of clutch cover was analyzed,then the design requirements of the manipulator were obtained according to the stamping process.And the overall design scheme of the manipulator was put forward.Furtherly,the working cycle of the manipulator was also analyzed.Based on the modular design,the manipulator was divided into three parts: the fuselage,traversing system and vertical traverse system.Then the three parts were designed respectively.Finally,the selection and calculation of the two servo motors which were used to drive the manipulator was made.(2)The finite element analysis of the main parts of the manipulator was carried out.Through the static finite element analysis of the fuselage,the transverse support,the horizontal slide plate and the connecting block,deformation and equivalent stress were got.It was found that the static stiffness and strength of the manipulator met the requirements.Modal analysis was used to obtain the natural frequency and vibration mode of the fuselage and the transverse support.It was found that the fuselage and the transverse support will not resonate in the work.(3)The motion simulation of the manipulator's traversing system was carried out.Based on virtual prototype technology,adams was used to simulate the movement of the manipulator.The displacement,velocity,acceleration time curve of the plate were obtained.The contact force between the gear pair,the gear rack and the plate were also obtained.It could be determined whether the manipulator will be affected by the impact of work.(4)The control system of manipulator was designed and studied.According to the production requirements of the manipulator,the requirements and characteristics of the control system were analyzed and the overall scheme of the control system was put forward.PLC was selected as the core controller.And then this paper completed the selection of PLC and I/O configuration.The servo system and the pneumatic system of the control system were completed.Some auxiliary functions in the control process of the manipulator were analyzed and studied.Finally,The prototype of the manipulator was finished.