| Recently,the demand for taking and feeding manipulators in many factories is increasing with the development of industry automation technology because of the advantages in using flexibly,quick action,being able to adapt to a variety of harsh and dangerous environments,high positioning accuracy,and long operation time for manipulator.The use of manipulator can reduce production costs,reduce labor intensity,and improve production efficiency.A set of automatic taking and feeding control system instead of traditional manual operation is produced in this thesis,based on the research of specific problems in the packaging process of spark plug manufacturing company,combined with the application of manipulator technology in industrial field.The system can achieve the functions of transport,clip and delivery for spark plug.The main works for this thesis are as fallows:Firstly,the mechanical structure of control system was designed,mainly consists of transmission module,support frame and clip module,and distribution box module design.Support frame was designed into the shape of a portal-type frame,according to the vibration in movement and overall load of control system.Clip module was designed into a pulling independent pneumatic shape,according to the place form in placing box and its shape of sparkplug.Distribution box in distribution box module was designed into double staggered pneumatic pull shape with inverted cone surface,according to factors of packaging speed of the packing tape,the number of one-time clip for clip module,the impact force when sparking plug for clip module,and the impact force when sparking plug for itself.So,this design can achieve one-time clip for clip module,and realize the functions of interval layering and sub delivery.Secondly,the hardware and software of this system was designed.According to the functional requirements of control system,PLC as the main controller,and pneumatic control and ball screw driver are applied combined with gear motor,stepping motor and position detection sensors to realize the functions of the whole system.Furthermore,all of the hardware were analyzed after comparison and selected.According to the analysis of the action process and action flow chart manipulator,V4.0 STEP7 Micro WIN SP9 and part functional module of MAP library in Programmable Logic Controller(PLC)were applied to program,which realized the transmission belt to the spark plug box position,clipping head clip and delivery,and interval time delivery for distribution box.Thirdly,this system has been experimented and analyzed.The single module of the system has been tested firstly,including the mechanical structure module,pneumatic control module and electronichardware module.Then the whole experiment platform were tested,which verified the feasibility and reliability of system,and whether can reach the goals including self-positioning of the transport tape,clipping head clip and delivery,and interval time delivery for distribution box.Finally,experiments were performed on twenty thousand spark plugs for each clip,and there were only three sliding phenomenon.Results show that this proposed design can conform to the requirements of 3/1000 given by company,and the system runs stably and reliably. |
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