The Design Of Loading And Unloading Manipulator In The Process Of Ultrasonic Welding

The manipulator is a kind of high-tech automation equipment developed in recent decades.It is widely used in industrial production to improve product quality and production efficiency.And it plays an important role in upgrading to improve working conditions and product updates.In this paper,the upper and lower manipulator in the ultrasonic welding process is researched,which is an important part of the automatic transformation of the production line for lamps and lanterns.The domestic and foreign development status and future development trend of the manipulator were summarized.Based on the domestic and foreign research results and the work experience,the overall structure of the upper and lower manipulator in the ultrasonic welding process was put forward.The working principle of each component in the ultrasonic welding process was given,which provides the theoretical basis for the following research.The detailed mechanical structure design of the loading and unloading robot has been carried out,including the actuator,the rotating mechanism,the lifting mechanism,and so on.Vacuum sucker is adopted as gripper,which can provide fast and stable crawling speed.In the welding of different products,as long as the product to meet the surface smooth,lighter weight and other requirements,it only needs to replace the ultrasonic welding machine up and down mold.A cam intermittent divider is used as rotary mechanism with smooth operation,high positioning accuracy.A cylinder drive is designed to be lifting mechanism.With the compressible characteristics of the gas,the problem of system overload could be avoided.and the automatic control of the upper and lower manipulator would be achieved easier.Based on the design of mechanical structure,the design of microprocessor,motor control,pneumatic control and human-computer interaction is carried out.Combined with the motor positioning control,the PID positioning control scheme is given and its simulation is carried out to verify the positioning control effect.The working conditions of the main parts and components of arm,turntable and movable rod are analyzed by using SolidWorks software.The results show that the stress of each main component can meet the requirements of actual working condition.The movement state of the manipulator is analyzed by using Adams software,and its trajectory is simulated to determine the actual movement of the manipulator and the design trajectory.The upper and lower manipulator is designed for ultrasonic welding process.Its action is simple with less freedom.Taking into account the existing production conditions and update the cost of equipment and many other factors,a lot of common parts and standard parts were used in designing.It could be easy to manufacture and install.Maintenance and using would be more convenient.And the cost of equipment is significantly reduced.So the design has a certain practical value.