Research And Design For The De-NO_x Catalyst Immersing And Palletizing Manipulator

With the introduction of relevant policies on atmospheric controlling,the market with the introduction of relevant policies on atmospheric controlling,the market demand for every kind of catalyst that control nitrogen and sulfur oxides in the atmosphere increasing dramatically,especially for the honeycomb deNOx catalyst.However,it cannot realize the automatic completely during the production of honeycomb deNOx catalyst.In the final process,immersion and palletizing still need human to finish,which affects the yield of the deNOx catalyst seriously.In recent years,driven by "Made in China 2025",many of our domestic manufacturing enterprises have introduced and integrated industrial manipulators into the production line.Due to the complicated production process of the honeycomb catalyst.It’s still unable to meet the requirements.Therefore,this paper deeply studies the production industry of honeycomb catalyst,designs a manipulator to immerse and palletize the honeycomb catalyst.The main contents of this paper are as follows:Firstly,through the analysis of production process requirements and environment,we determine the main functions the manipulator should have,just like capturing,rotating,handing and palletizing.According to the functional requirements of the manipulator,the type of manipulator structure and the overall design scheme are determined by contrast.Then we confirm the main design parameters of the manipulator base on the production rhythm,and describe the working flow and principle simultaneously.Secondly,judging by the manipulator’s design scheme and the functions to be realized,we divide it into several functional modules,the gantry frame module,the handing module,the immersing module and the palletizing module.Then we perform detailed structural design and drive selection calculation for each module,after that,the connection of them and the overall drive have been designed and calculated.Thirdly,through the finite element static analysis about the important components of the designed immersion and palletizing manipulators.We obtain itsstress and strain under static load.And check the strength and stiffness according to the calculation and analysis results.Then,we carry out the modal analysis of the gantry frame,and get the natural frequency and the corresponding vibration modes of it.Basing on the vibration analysis,it provides the basis for the vibration fault diagnosis and prediction and the optimum design of structural dynamic characteristics.Finally,we improve and optimize the related components in accordance with the results of static analysis and modal analysis.Finally,judging by the control requirements of that manipulator,we confirm the control system,select the core controller PLC and related hardware,and also design the electrical connection and hydraulic circuit.According to the process analysis,the time parameter analysis and the position parameter analysis,we write the PLC control program and design the human-computer interaction interface.