Research On Design And Precision Stability Of Transfer Manipulator

With the advancement of Made in China 2025 and the gradual popularization of intelligent manufacturing,the role of handling robots is becoming more and more important.Handling robots are part of the automated production line and have a significant weight in the automated production line.It can replace the work of the workers in the transportation link.Compared with the workers' transportation,the use of a transportation robot can improve the production efficiency of the enterprise and reduce the use of manual labor.There are two types of handling robots:general-purpose and special-purpose.General-purpose is suitable for parts that have similar appearance features,such as parts with edges and edges.Through these similar appearance features,grasping and handling can be realized;special-purpose It is specifically designed and developed for the shape characteristics of a certain type of parts.This paper designs a special type of manipulator,which is specially applied to the manipulator for the safe handling of spherical sector bodies,and has completed its related design analysis.spherical sector bodies refer to the use of a plane to intercept a ball and the remaining part is called a spherical sector bodies.the main research work of this paper on the spherical sector bodies transport manipulator includes:(1)The overall design of the transfer manipulator structure.Based on the summary of the existing research on transfer robots in foreign countries,combining the shape characteristics of the spherical bodies target and the working environment of the robot,a kind of fixed design using a standard cylinder as the transmission module,a vacuum suction cup as the adsorption module,and a pneumatic gripper as the robot arm The module and the driving part of the protective claw,the protective claw is used as the transfer manipulator of the anti-fall protection module;the dynamic modeling of the cylinder,the analysis of the suction force of the vacuum suction cup;the static simulation of the protective claw part of the transfer manipulator.(2)Scheme design of transfer manipulator control system.Analyze the motion of the transfer robot during work,and introduce the selection of the PLC controller,force sensor,and negative pressure sensor;design the PLC control scheme based on the motion of the robot during work;design the motion control of the transfer robot Main circuit,PLC wiring circuit,pneumatic control circuit,pneumatic suction circuit;and based on the designed PLC control scheme,a ladder program for PLC control was written.(3)Research on the accuracy and stability of transfer manipulators and prototype tests.The stability analysis of the transfer manipulator is performed.The accuracy analysis is to analyze the impact of different loads and different working pressures on the working state of the cylinder,so as to determine the change in accuracy during movement.The stability analysis is to analyze the transfer by fault tree analysis.The failure rate of the mechanical part of the manipulator and the failure rate of the control part are analyzed quantitatively and qualitatively to calculate the theoretical stability probability.The prototype test is designed and the continuous working test is performed to verify the accuracy and stability of the handling robot.