The Research Of Intelligent Feeding-unloading Robot System For Huge Heads

The head is an important part of the pressure seal container.For meeting the intelligent numerical control cutting process of different size head,it is necessary to carry out the loading-unloading operation such as overturn and transport.In this paper,our target is 1400 mm to 4300 mm of the oval or butterfly shaped head,and an automatic solution is proposed to design and build a set of intelligent loading-unloading robot system with the function of Lifting,turning,gripping and transportation.Specific contents are as follows:This paper introduces the project background and requirements,some important technical parameters.The paper focuses on the present situation and structure characteristics of reversing and transporting the large-scale work at home and abroad.Combined with project requirements,the system is put forward on the loading-unloading plan,and discussing the layout and the coupling relationship between the flip,the clamping and the lift and the position changing,Choose the line type transport plan.Design clamping structure,lifting structure,flipping structure and assembly line structure,and calculate the selection of suitable motor,reducer and screw nut,etc.Focus on discussing the intelligent embodiment of the clamping structure,and the optimal rotation axis is analyzed.ANSYS finite element analysis.Simplify the mechanical model of lifting,clamping and turning,and make the static analysis and modal analysis of each module.From the static deformation,stress distribution and modal vibration distribution,we find the weak link of the structure,and optimize the structure.The mechanical properties of the whole structure are analyzed to verify the consistency of the local structure.Control and debugging.This paper introduces the electrical principle and PLC logic,the pre tension of the clamping force,the synchronization of the motor,and the detection of the position deviation.It realizes the synchronous and asynchronous control of motors.The coupling relationship between the lifting,the lifting,the holding and the flip is determined,and the whole system has the interlocking function.Finally,the mechanical assembly and electrical control of the site are debugged ensure the system run smoothly.