Research On Mechanical And Electrical Hybrid Drive Cam Manipulator And Its Multi-execution Path

Cam manipulator is widely used in automation production line,but its motion trajectory is single.In order to meet the requirements of flexible production,the mechanism of cam manipulator is improved and studied in this thesis.By introducing the control principle of electronic cam,an mechanical and electrical hybrid drive cam manipulator is studied and designed,aiming at studying the relationship between composite mechanism and material multi-path placement trajectory.Through the electronic cam control system,different motion curves of the electronic cam are given,so that the manipulator can achieve flexible grab and placement of multiple execution paths.The main research work is as follows:(1)Common cam manipulator configurations and placement paths in the market are analyzed,and a design scheme of mechanical and electrical hybrid drive cam manipulator configurations with variable grab and placement paths is determined in this thesis.The multi-path trajectory of cam manipulator in this scheme is analyzed,and the working cycle diagram of typical pick-up scheme is designed.(2)According to the configuration scheme of mechanical and electrical mixed-drive cam manipulator,the motion laws of the cam mechanism are studied and selected.Based on the principle of curve discretization,the relationship between the number of pulses sent by the control system and the motion law of the electronic cam in the process of acceleration and deceleration of the motor is established,and the realization method of the motion law of the electronic cam is obtained.(3)The three-dimensional design software SolidWorks is used to design the components of the mechanical and electrical mixed-drive cam manipulator.The three-dimensional model of the mechanical system is obtained and the virtual prototype assembly is completed.On the basis of reasonable multi-path grab and placement of mechanical structure,ANSYS Workbench is used to check the strength,fatigue analysis and vibration analysis of the main parts in the mechanical structure to verify the reliability of the mechanical system.(4)According to the control requirements of the electronic cam mechanism of the mechanical and electrical mixed-drive cam manipulator,the control methods and control modes of the electronic cam mechanism are determined by choosing the executing elements of each part.The software function of the control system is analyzed,and the mathematical expression between the number of output pulses of the control system and the motion law of the electronic cam is established.The program of the motion curve of the electronic cam of the mechanical and electrical hybrid drive cam manipulator is designed by using the software platform.(5)The mechanical system and control system of the mechanical and electrical mixed-drive cam manipulator are modularized,and the pre-processing and post-processing software of multi-path trajectory of manipulator is developed by using Simulink platform in MATLAB.The electromechanical simulation is carried out on the developed software platform to verify that the mechanical and electrical mixed-drive cam electromechanical system meets the multi-execution path selection theoretically.Through the above work,the improvement and innovation of the cam manipulator mechanism is completed,and the relationship between the composite mechanism and the multi-path trajectory is established,which provides a reference for the follow-up research on cam manipulator innovation.