Design And Analysis Of The Single Stamping And Handling Manipulator

With the increase of human cost and the deepening of industry competition,the traditional manual stamping production line has the conditions of high danger,low efficiency and low yield,which can not meet the modern stamping production.In face of the continuous improvement of product process and technology,intelligent,automatic,flexible production is becoming more and more popular in the stamping.In order to solve these problems,the loading and unloading manipulator can indirectly or directly replace the manpower,and realize the metal sheet automatically transmit between the puncher,and can improve the production efficiency and product quality.According to the actual production environment of the server production enterprise,the manual production line is upgraded to the full-automatic stamping production line,and the manipulator is designed to transfer products in turn between the presses.Through the comparative analysis of the characteristics of various mechanical systems,the overall model of the manipulator is established by using the3 D CAD Design Software Solidworks.The geometric nonlinear mechanical model of the cantilever beam of Euler Bernoulli beam with equal cross-section under concentrated mass load is established.The nonlinear static analysis of the cantilever beam of handling manipulator under different concentrated load points is carried out.The stress intensity of the cantilever under concentrated load near the free end and the strain and displacement of the cantilever under different action points are obtained According to the analysis results,the author optimize the structural design of the cantilever beam,and re-study the nonlinear static analysis of the optimized beam again.Based on the Euler Bernoulli,the author calculate the natural frequency of the cantilever beam with different length.The author use the finite element analysis,carry out and study the natural frequency variation law of the cantilever beam under different load positions;the non-linear dynamic analysis and transient dynamics of the fixed and moving cantilever beam with or without damping,different moving speed and different load conditions are carried out respectively by using CAE analysis software Response analysis and dynamic response analysis of the cantilever beam structure during the horizontal operation cycle of the manipulator.According to the movement process of the handling robot,the author use Solidworks Motion analysis to plan the movement path of the robot,design the control system and pneumatic circuit system,determine the use of Delta PLC as the handling robot control unit,and complete the design of the handling robot's program and man-machine interface.Finally,the handling robot is assembled and debugged to achieve normal delivery of signals between the handling robot and other equipment and punches on the production line.