Design And Research Of Automatic Test Line Loading And Unloading Manipulator For Engine Tappet

With the gradual acceleration of the modernization process,the world has made more and more demands and increasingly higher standards on the manufacturing industry.Traditional manufacturing has not kept up with the pace of the times,smart manufacturing has followed the trend and emerged as the mainstream development of manufacturing.The application of industrial manipulator in manufacturing has gradually become a crucial link in automated intelligent manufacturing.Tieling Xinlong Manufacturing Co.,Ltd.,based on its own development and the needs of its partners,has proposed an engine tappet automation test line designed for its own company.In this paper the Loading and unloading manipulator for automated inspection line is designed and researched.Looking up the development status and research status of manipulator at home and abroad,the design and research of the loading and unloading manipulator for the automatic test line of the engine tappet are carried out according to the actual demand of Xinlong company.The main contents of the research include the establishment of the three-dimensional model of the manipulator,the analysis of the motion performance,the path planning,and the analysis of the control system.According to the characteristics of the engine tappet,the company's proposed workspace and work requirements are combined,the structure of the manipulator is designed and the appropriate drive mode is selected.Depending on the application of the different end effectors,the appropriate end effector is selected.The three-dimensional model of the robot is modeled based on the above conditions.After established a three-dimensional model,it is necessary to analyze the kinematic performance of the manipulator.The kinematics of the manipulator is used to calculate the posture of the end effector during the working process of the manipulator to ensure that the tappet can be accurately grasped and lowered.Through the kinematic inverse kinematics of manipulator,it is shown that the structural design of manipulator satisfies the work requirement,which prepares for the future path planning.The path of the manipulator is planned to find the simplest and most convenient route of the manipulator in the process of movement,so that the manipulator can save the working time in thespace movement.By using the linear interpolation algorithm and the inverse kinematics of the manipulator,the angle of the joint rotation of the manipulator in the time interval node is solved,which prepare for the grasping work of the manipulator.A visual servo system is used to locate the tappet on the conveyor belt,and the camera imaging model is used to make the correlation between the camera coordinate system and the general coordinate system by the camera calibration.The image in the camera is processed to get the position of the tappet on the conveyor belt and the grasping of the tappet is achieved through the control system.