Design And Research Of Automatic Loading And Unloading Manipulator

With the popularization of industrial policies and the rapid development of science and technology,the transformation and upgrading of manufacturing industry have received extensive attention.For many small and medium-sized enterprises,the improvement of automated production level is the basis for industrial digitalization,network,and intelligent transformation and upgrading.Stamping is a key process in the production process,but many small workshops also use manual methods to complete the loading and unloading work.The stamping production line has a harsh environment,and the labor intensity of the workers is high and the production efficiency is low.Therefore,the automation of loading and unloading is particularly important for the stamping process.In order to achieve this goal,the automatic loading and unloading manipulator has been researched and designed,which can replace the manual loading and unloading work,greatly improving the unmanned level and production efficiency of the workshop.Based on the analysis of the development status of manipulator technology at home and abroad,this paper designs a robotic control system for automatic loading and unloading according to the actual demand of a company's stamping production line.The system is assembled by a right-angled coordinate manipulator.The balance-type structure and the electromagnetic chuck are used to load and unload the solution.The control unit uses the Mitsubishi FX3U-24MT PLC to control the stepper motor to complete the power output.In the design process,firstly,according to the layout and working parameters of the punch,the overall structural scheme of the machine is designed.Then use SolidWorks to complete 3D modeling and shape optimization of the end picker structure with the Shape Optimization module in ANSYS Workbench.The ANSYS Workbench was then used to perform static simulation analysis on the end picker structure.After completing the system hardware calculation and selection,the robot movement and control flow are analyzed,and the PLC program is completed using GX Works2.Finally,the prototype test was carried out on the whole system.After analyzing the test results of the system prototype,it can be known that in the 100 groups of loading and unloading tests,the system started 100 groups normally,the materials were successfully transferred to 100 groups,and the materials were correctly tested in 96 groups.Material groups that are not properly detected are mainly due to external environment or other system-independent causes.The automatic loading and unloading manipulator designed in this paper adopts the balance structure and can transfer two materials at a time.It has the characteristics of high efficiency,small floor space,high cost performance and strong expandability.It is very suitable for the automatic upgrade of the stamping production line.However,there is still room for improvement in terms of accuracy,control optimization,and complete unmannedness.In general,for the transformation and upgrading of small and medium-sized enterprises,the system has certain theoretical value and practical reference value.