Research On Structure Improvement And Control System Of Spraying Manipulator

With the boom of industrial automation and industry 4.0,a great deal of research and development have been carried out on industrial manipulator at home and abroad.At the same time,as an advanced non-removal material metal forming method of mechanical parts with excellent performance has been obtained.The research on die casting technology is also a hot spot in the field of material forming at home and abroad,among which spray stripping is one of the most important methods.In order to ensure the efficiency of die casting production and the quality of products,to realize the automation of die casting production and improve the quality and efficiency of die casting production,it is necessary to optimize the design and experimental research of spraying manipulator.The main research content of this topic is to improve and research the structure,driving mode and motion control process of spraying manipulator.(1)Refer to the literature,understand the process of die casting,understand the working requirements of spraying manipulator,understand the related research progress in industrial robots and electro-hydraulic servo field in recent years,and determine the main technical scheme and design ideas of the manipulator improvement in this paper.(2)Aiming at the existing problems of spraying manipulator,starting with the structural improvement of the manipulator,the original servo motor torque drive is improved to the hydraulic cylinder linear force drive.The analysis and calculation are carried out.The improved scheme improves the energy-saving of the driving process.The three-dimensional model of the manipulator is established by Solidworks and the ANSYS Workbench is used to set up the machine.Static simulation analysis of the manipulator's base and parallel quadrilateral manipulator is carried out to verify the improvement of mechanical properties of the manipulator.(3)After the improvement of the structure of the manipulator,the hydraulic system with corresponding functions was designed and the calculation and selection of the system were completed.The hydraulic system which can support the manipulator's work and has strong industrial applicability was designed.At the same time,the hydraulic servo position control was adopted to realize the automation of the spraying process.(4)Modeling of hydraulic servo control system,fully considering the characteristics of asymmetric hydraulic cylinder controlled by servo valve,and using the knowledge of mechanical engineering control theory to analyze and model the system,using MATLAB/Simulink software to build the control system model for stability analysis.(5)On the basis of the model,the relevant control strategies are studied.Using the PID Controller module and the Fuzzy module in Simulink,the research of the PID control and the Fuzzy PID control to improve the response performance of the system is carried out.(6)According to the relevant conclusions of the controller design in this paper,the performance of the controller is verified by designing relevant experiments in the hydraulic laboratory,and the correctness of the relevant conclusions is proved.The results show that the improved spraying manipulator improves energy saving,structural strength,processing accuracy and automation,and the improved design is successful.