The Design And Research Of Stacking And Transporting Equipment Used For Balance Rings In Washing Machine

Stacking task was an important part of modern enterprise production,which has always been done by labor in a previous long time.With the aging of the population increasing and the enterprise labor costs rising,tremendous pressure has been brought to the enterprise.Therefore,it is necessary to design an automatic stacking and transporting equipment.Having investigated the research situation of automatic stacking and transporting equipment and stacking robot,this thesis presents a set of stacking and transporting equipment in the core of stacking robot,which is based on the stacking task of balance rings.The transporting equipment is composed of stacking robot and its peripheral equipment.The peripheral equipment includes seven units: input conveyor belt,balance ring turning unit,centering unit,tray supplying unit,waiting stack conveyor,packing unit and stack conveyor.This equipment can realize the balance ring automatic operation from the processing line to packaging completely.In this thesis,what is presented firstly are the scheme of stacking and transporting equipment and the design of pressure control system.Secondly,based on scheme of transporting equipment,kinematics analysis of the four degree freedom stacking robot is carried out and the mechanical arm structural parameters of the stacking robot are determined,the kinematics equation is deduced,end and joint movement can calculate with each other.After which SolidWorks is used for structure design of the equipment.Next,a kinematic and dynamic analysis of the robot is carried out by using ADAMS to simulate the motion of the robot in a work cycle.ANSYS Workbench is used to give finite element analysis of the horizontal pallet,vertical pallet and tray box in tray supplying unit,the result of which shows that the strength and stiffness meet the design requirements.Finally,the design of PLC control system of stacking and transporting equipment is completed and the host computer monitoring interface is designed with MCGS configuration software.