| Today,with the development of the top strategic structure of made in China 2025 and the arrival of high-tech industry chain,robots will not only appear in industrial production as detection and supervision devices,but also become a high-end intelligent equipment application in our lives,helping us improve production and innovative products.In this paper,the concept of a kind of Cartesian coordinate robot for loading and unloading is designed for the problems of large labor,low production efficiency and poor handling accuracy.By learning the characteristics of the assembly line operation and the actual situation of the wood processing plant,the overall structure of a wood loading and unloading rectangular coordinate robot is designed.Observe the processing technology of the assembly line wood processing,so as to determine the overall system composition and movement mode of the robot,and check whether the parts of the design device meet the design requirements.UG software is used to complete the whole three-dimensional model of the loading and unloading rectangular coordinate robot,and ANSYS software is used to carry out six-stage modal analysis of the whole structure of the robot,whether resonance will occur and affect the normal operation of the robot.The static analysis of the key connecting parts of the robot is carried out to verify whether the shape variables meet the requirements,and the structure is optimized.Finally,the model is imported into UG software,and the motion characteristics are tested by the motion simulation function of UG.Complete the control system design of the loading and unloading rectangular coordinate robot,and design a control mode of system software design.Firstly,the characteristics and working principle of PLC control system are introduced,and then the relevant hardware of PLC is selected.According to the feeding process of the wood production line,the working sequence diagram of the robot is drawn and the PLC wiring circuit diagram is designed.Simulink software is used to build simulation,to ensure the stable operation of the system and more accurate position operation.This paper focuses on the error compensation of the loading and unloading rectangular coordinate robot,builds the experimental platform based on the three-dimensional model built by UG,and uses the laser displacement sensor to carry out the three-axis positioning accuracy test and measurement experiment on the experimental platform of the timber loading and unloading rectangular coordinate machine.The least square method and interpolation method are used to fit the error curve respectively,and the MATLAB software is used for numerical analysis and comparison.The optimal method is selected and the error compensation curve is programmed into the controller to improve the motion accuracy of the experimental platform.Through the research on the mechanisms of the loading and unloading rectangular coordinate robot,the feasibility of its design and the way of motion error compensation are analyzed,and a theoretical system combining the auxiliary software design with the mathematical error compensation is designed,which provides some reference for the design and research of related robots in the future. |
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