Research On The Charge/Discharge Manipulator Of Friction Welding Geological Drill Stem

Manipulator is a sort of automation devices which has the function of grasp and transfer workpieces during the automatization manufacture. Drill stem is the important tools for geological exploration and drilling technology. In order to improve product quality and production efficiency of the drill stem, friction welding has been adopted to weld the drill stems in xi'an branch, china coal research institute in 1999, it has proved this method improves quality of the drill stems and production efficiency greatly, while frequent charge/discharge during welding drill stem aggravates workers' labor intensity and restricts the friction welding working efficiency. In view of this question, the paper has designed a kind of special-purpose automated installment which is used during the friction welding drill stems, which is charge/discharge manipulator of friction welding drill stems, at the same time, we carry on the production experiment to it, for the purposes to accomplish the mission of charge/discharge and transposition of drill stems and so on many compound movements.The thesis mainly not only completes three parts of the manipulator's machine systems, hydraulic and PLC (PROGRAMMABLE LOGIC CONTRLLOR) control systems, but also has carried on the production trial manufacturing and the field test to this manipulator.The mechanical part is designed on the basis of mechanics computation foundation after the structure analysis, including hand, skill, arm, feeding equipment as well as fuselage and so on; The hydraulic system design including the hydraulic system computation, the hydraulic pressure element's selection, many kinds of specifications attachment design and the processing as well as the hydraulic system installation and debugging; The PLC control systems design including the control system overall layout, control element's selection, the line connection, the procedure establishment as well as the system debugging and so on.After product testing and field testing to prove that the friction welding geological manipulator meet the design requirements, it can substitute for the manual labor, reduces workers'labor intensity, and also enhance the production efficiency of drill stem.