Design And Research Of Intelligent Storage And Handling Manipulator

With the development of international economy and the promotion of economic globalization,the international market competition has become more and more fierce.And if companies want to have an advantage in competition,they have no choice but to fully realize industrial automation.In this paper,the author will design a handling manipulator for intelligent warehouse,which is used to carry the goods that need putting into storage to the shelves or take some goods out from the shelves and transport them to the conveyor.The paper summarizes the domestic and foreign state of industrial manipulator's development,analyzes industrial manipulator's structure and it's work process in auto warehouse and then lists the robot kinematics knowledge The motion equation of the manipulator is analyzed and compared.Several common driving methods are compared,and the way of electric drive and electric motor driving is selected.The control system of the manipulator is designed preliminarily.According to the demands of the manipulator,the author designs the key parts and manipulator arm's structure,analyzes the scope of activities in the handling work for the purpose of coordinating with the other parts of the warehouse system,following by designing the manipulator's structure.It's convenant for the works to adjust the size and simplify the manipulator's working process through analyzing the relationship between size and position of the handle and basket.At last,the author analyzes the design of the driving device of manipulator in detail.The manipulator's control system is analyzed in detail.The OMRON CP1 H series PLC is selected to maintain the whole system's regular operation.The control circuit diagram of the PLC to the actuators is drawn and a reasonable manipulator software control flow is arranged.