Design And Research Of Loading And Unloading Pneumatic Manipulator For Stamping Head Based On PLC Control

In recent years,as China's “big manufacturing country” to the “manufacturing power”transformation process accelerated,automation equipment in industrial production is more widely used.In the stamping production line,automatic stamping is an effective way to reduce production costs and ensure production safety,the upper and lower material manipulator is an important part of automatic stamping.In this paper,a kind of low cost pneumatic manipulator which can use for small head stamping,feeding and unloading is designed and studied,The main research contents and conclusions are as follows:(1)In the mechanical system design,the modular and parametric concepts are used.The cylinder drives the shaft to rotate,the cylinder pushes the sliding guide rail as the arm,the limit switch and the mechanical block determine the position together,these new methods are applied to the structure of manipulator,which simplifies the structure and improves the positioning accuracy of the cylinder to a certain extent;Then,based on the homogeneous transformation,the kinematics and dynamics model of manipulator is established and analyzed,which provides a theoretical basis and reference for similar analysis;Finally,the virtual prototype is simulated by ADAMS software,and the results show that there is no interference in the mechanical structure.(2)In the design of drive system,the closed position control loop is adopted to control the position of the cylinder;Then,the drive circuit schematic diagram is designed,and the pneumatic components in the drive circuit are selected.(3)In the design of the control system,the hardware(PLC selection,I/O point distribution,PLC external wiring)and software(SFC diagram,ladder diagram program,program logic test)of the PLC control system are designed with full consideration of the respective characteristics of the hardware and software;At last,the experiment of manipulator prototype is carried out,the results show that the manipulator structure design is reasonable,the pneumatic drive system runs stablely and the control software is of good performance,which reaches the design requirements of the project,a pneumatic manipulator based on PLC control has been successfully developed,which has certain reference value for the equipment of“mechanical,electrical and pneumatic” integration.(4)The complex network theory is applied to the reliability analysis of manipulator control circuit,an unweighted network model of limit switch circuit is established by using adjacency matrix method;The network characterization parameters such as the degree of each node,clustering coefficient and betweenness number of the model network are calculated by Pajek software,the importance of each component is analyzed and the Hub node of the circuit is located.The results show that component GND,VDD and V1 are the most vulnerable Hub nodes,and they are important objects for system reliability design.