Design And Research Of Grab And Carry Manipulator For U-shaped Steel Pipe

U-shaped steel pipe is made of long and thin straight steel pipe through pipe bending process.It is widely used in heat exchanger and other equipment.This project aims at the problem that the heavy material handling and fetching equipment in the original cold bending site needs to be replaced.It designs and develops a set of light and highly automated grasping and handling manipulator,which not only improves the production efficiency of cold bending process,but also reduces the labor intensity and labor cost of workers.In this paper,based on the understanding of the original pipe bending process and the material taking mechanism,according to different specifications(bending radius 0.2m ~1.2m,pipe bending pin length 0.3m ~ 1.4m),the use of the wheel,rail and rack of the original material taking equipment to build three with the same rail car,each car is using two manipulator grasp handling manipulator scheme.The mechanical claw is installed at the end of the electric cylinder push rod,and the electric cylinder is installed in pairs,one is fixed on the trolley frame,and the other is installed on the sliding block of the horizontal linear module.By controlling the servo motor on the trolley frame to adjust the longitudinal distance between the mechanical claws on the three linear modules so as to adapt to the change of the length of the elbow pin.The linear module makes the slider drive the electric cylinder and its mechanical gripper to make lateral movement to adapt to the radius change of the elbow.After a certain elbow type is input,the system automatically adjusts the distance between the three groups of manipulator,so that three groups(six)manipulator are located at the head,middle and tail of the current elbow.The calculation and selection of force and energy parameters of the main parts of the manipulator are carried out.The main parts include the servo motor which controls the longitudinal movement and transverse movement of the trolley,the electric cylinder which controls the mechanical hand to move up and down,the gripper motor,the mechanical gripper and other parts,and the models and related parameters of each part are determined.Finally,Creo 3.0 is used to build a three-dimensional model of the manipulator and make virtual assembly.After fully considering the instantaneous stress state and deformation displacement of the grasping and handling manipulator caused by inertia force during starting and braking,the detailed finite element analysis is carried out by ANSYS workbench software.According to the stress and deformation diagrams of the gripperunder different acceleration,it is concluded that the results of finite element analysis are similar to those of field debugging.The structure designed in this paper and the results of acceleration analysis recommended by finite element analysis are in line with the requirements of the technological design of the whole grasping and handling manipulator.