Research About The Loading And Unloading Manipulator System For Flow Meter Verification Device

With the continuous improvement of automation in the field of industrial production,,Industrial robots have been widely used in various fields such as mechanical manufacturing,car assembly and chemical materials distribution.It greatly improves productivity and greatly reduces the human cost of production and processing.In this paper,designed a loading and unloading manipulator based on flow scale verification for someone company,The manipulator is mainly used to grasp the flow meter of the test,and send it to the test platform and install the clamping device for the water meter,Thus,the flow scale can be automated through the process of handling,loading and unloading and testing,which greatly improves the working efficiency of flowmeter verification and reduced the production cost of enterprises.The design of the loading and unloading manipulator is mainly composed of the mechanical structure design and Motion control system of the manipulator,The structural design includes three parts which they are the designs of the angles of manipulator,arms of manipulator and the performing structure;The design of control system is the core part of the design of the whole manipulator,which determines the positioning accuracy of the grasping or the fixing of the manipulator.It's greatly related to whether to realize the functional requirement of the enterprise.In this paper,The structure of the manipulator is selected as the motion lead rail + the structure of the class SCARA robot.The 3D model of the manipulator had obtained by using the 3D design software SolidWorks,To select the types of the power-driven machine by calculating and simulating;According to the actual situation of the manipulator,Designed the hardware circuit diagram of the joints of manipulators,which includes the closed-loop driving of the servo motor and the subdivision driving of the stepping motor.In ectrical control,we adopted the tatics which PC+ARM11+DSP transport to control the module of the industrial machine.The hardware module of the embedded Linux system has been designed,which including the core board design,the storage circuit design and the communication module,etc.To verify and verify the rationality of the manipulator rail.The positive kinematics and inverse kinematics of the manipulator are analyzed and the mechanical mechanical model simulation is carried out by establishing the coordinate system with D-H parameter of the manipulator.And we adopted an algorithm for piecewise trajectory planning with the format of 4-3-4 to verify its reasonable.And includes experiment of single manipulator joint & simulation of trajectorys planning based on MATLAB Robotic Toolbox It provides great significance for the practical application and set a foundation for the designed of manipulator.The theoretical analysis or design of loading and unloading manipulator meets the practical requirements of an enterprise.The flow meter to the detection platform and installed the clamping device process automation,It greatly improves the efficiency of the enterprise's flowmeter verification and reduces the labor cost.It provides great significance for the practical application and set a foundation for the designed of manipulator.