System Design Of The Planar Three Degree Of Freedom Explosion Proof Mechanism

The assembly of energetic materials is an industry which relates to national security and has high risk.And present,the technical level of this industry in our country is relatively low.During the assembly process of the energetic materials,the forming of ammunition,the withdrawal of ammunition and the loading of the ammunition are mostly done manually.And has a higher requirement of skilled workers.In the actual production process has big security risk and Low working efficiency.Nowadays with the continuous improvement of automation technology,industrial robots are widely used in various fields.And with the development of explosion proof technology and the improvement of robot control technology.It is possible to design special explosion-proof robots in assembly industry.In this design,we design a kind of three degree of freedom explosion proof mechanical arm for the assembly process of the energetic materials.Use SCARA manipulator to be the model,includes two horizontal degrees of freedom and a vertical degree of freedom.System requirements of the first mechanical arm movement range is ±100° and the movement range of second mechanical arm is ±150° and The system requires the mechanical arm lifting mechanism movement range should be 850 mm.Besides the maximum speed of the first mechanical arm should reach.30 degrees per second.The maximum speed of the first mechanical arm should reach.15 degrees per second.The maximum speed of the mechanical arm lifting mechanism should reach 30 mm per second.The repeated positioning accuracy of the manipulator arm should below 1mm.In the process of designing SCARA type explosion proof manipulator,we found and solved the problem about the mechanical structure design,drive mode selection,end mechanism design and controller design.Firstly,According to the explosion-proof performance,select hydraulic motor and pneumatic motor instead of common servo motor as the mechanical arm joint drive.Select the corresponding hydraulic servo valve and pneumatic proportional valve to realize the speed control of the drive motor.Then we estimaed the load of the manipulator,and decided to fix the motor of first and second arm in the base part to to reduce the load generated by the driving element to the manipulator structure.besides,According to the assembly function of the energy bearing material which is aimed at the mechanical arm,the pneumatic chuck is adopted to pick up the energy bearing material at the end part of the robot.And install the spring at the top of the chuck to make the robot has a certain buffer capacity.Improving compliance and reliability of the robotic arm system.In the end,we use the field control module PLC block and the industrial computer to realize the control of the robot system.And design the PC interface program cooperate with explosion-proof camera to realize the remote control of the safe manipulator to the manipulator system.After mechanical design and components selection of the joint of the mechanical arm,we built up the robot system and made the Work performance test to the robot system.According to the experimental results show that the basic design of explosion-proof SCARA mechanical arm can achieve the requirements of the work...