Research And Development Of A Class Of Automatic Load/unload Manipulator

The automatic loading and unloading manipulator is widely used in the material loading and unloading process.According to the actual production of the enterprise,the thesis designed a kind of automatic loading and unloading manipulator.It is used for the up-down loading process of the stator silicon steel sheet.First of all,the thesis is based on the actual environment of the company's production.Determined the overall plan and layout of press lines for loading and unloading robots.Afterwards,designed the mechanical structure of the loading and unloading manipulator.And three-dimensional modeling of loading and unloading manipulator.Then determine the transmission scheme for each degree of freedom.For key parts,such as servo motor,ball screw and synchronous toothed belt,the selection calculation is carried out.Secondly,based on the three-dimensional model of the upper and lower feeding manipulator,the mechanical property analysis of the important structural components is carried out by computer aided technology.The kinematics analysis of the feeding manipulator is carried out,and the space position coordinates of the pickup are obtained.Finite element statics analysis is carried out for the important bearing parts of the upper and lower material manipulator,and the reliability of their strength and stiffness is verified by analyzing their stress cloud and deformation cloud image.After the modal analysis of the loading and unload ding manipulators,the vibration mode performance of the modal modes is analyzed to understand their anti-vibration performance.Finally,the control system for loading and unloading robots was designed.The main controller in the control system adopts PLC.The design of the pneumatic module and the servo driver module in the control system was designed for wiring.After that,the programming of the PLC was carried out,mainly including I/O port assignment,PLC program and external wiring diagram,etc.Through on-site commissioning,the designed automated loading and unloading manipulator meets production requirements and can reach a production beat of 10 times per minute.