Optimization And Monitoring System Design Of Automatic Handling Manipulator For Reducer Bearing Seat

Planetary gear reducer is widely used in various industrial fields due to its compact structure,high efficiency and strong bearing capacity.As a part of the reducer housing,the left supporting seat needs to be processed through many processes.Because the workpiece size is large and the processing time is long,the upper and lower parts of the workpiece need to occupy the overhead crane,and the workers need to be stationed for a long time in the process.In order to reduce production costs and improve labor efficiency,manufacturers have an urgent need for the application of special industrial robots.First,in order to improve the vibration performance of industrial robots,the original structure is optimized.The motion differential equation of the robot is established by using Lagrange equation,and the main factors affecting the natural frequency are defined.Taking the size of robot telescopic arm as the optimization variable,the size optimization calculation is completed in ANSYS Workbench.ANSYS software is used to simulate the optimized manipulator and verify the rationality of the structure.Then,a manipulator control system based on PLC and a host computer monitoring system based on K ingview are designed.By analyzing the functional requirements of the control system,the hardware part of the control system is built.The system power supply circuit,PLC wiring circuit and servo motor driver wiring circuit are designed.The working process of the manipulator is analyzed,the program block diagram is made,and the PLC control program is compiled,and the principle of the key program is expounded.The monitoring system of the material manipulator is designed by using K ingview,which includes three functions such as information recording,monitoring panel and dynamic monitoring.It can realize information entry and query,manipulator and its related equipment operation and state monitoring,as well as the graphic monitoring of the whole transportation system.Finally,a small prototype of the manipulator is developed.The environment of the experiment is arranged according to the actual working environment of the analog manipulator,and the experiment is completed by using the prototype,and the feasibility and reliability of the control system and the monitoring system are verified.