Design And Research Of Rocker Arm Automatic Loading And Unloading Robot

With the development of industry,the labor-based production method can no longer meet the high-efficiency production demand.According to the requirements of the functional indicators proposed by the enterprise,a rocker-type automatic loading and unloading robot is designed by this thesis.The main research contents include:1.The structure of the rocker arm automatic loading and unloading robot is designed and constructed.The mechanical structure of the robot is designed according to functional requirements and technical indicators.The mechanical part includes a highstability lifting shaft,a rotating spindle,and a robot arm,and the structural design,selection and simulation verification of the three are carried out respectively.Finally,the robot is modeled by PRO-E 3D software,and the reliability of mechanical design is verified by ANSYS simulation.2.The design of the hardware circuit of the rocker arm automatic loading and unloading robot.In this thesis,TMS320F2812 high-performance chip is used as the robot control core.The robot hardware circuit is formed by designing the power supply circuit,reset chip circuit,drive module and communication module.3.The design of the rocker arm automatic loading and unloading robot control system was carried out.First,the robot control system simulation is based on the establishment of a dynamic model to determine the forward kinematics,inverse kinematics and dynamics model parameters of the robot.In this thesis,the control system adopts sliding mode control.Firstly,the power rate is improved.The controller is designed according to the dynamic model and the approach rate,and then simulated by MATLAB.4.Experiment and analysis of the rocker arm automatic loading and unloading robot system.Robot experiments need to set up an experimental platform,process specific inspection tools,and robotic capture detection tools to reach specific locations from different points in space.The repeating positioning accuracy of the X-axis and the Y-axis is measured by a specific inspection tool,and the handling action of the rockertype automatic loading and unloading robot is performed to verify the performance and accuracy of the robot in the simulated working environment.