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    Introduction With the process of industrialization, the manufacturing industry has been advancing

    The degree of automation is getting higher and higher. In the high temperature, dust, radioactive strong

    In the noisy production environment, manipulator has been widely used in [1]. machine

    Manipulator has become a flexible manufacturing system (flexible manufacturing)

    System, FMS) and flexible manufacturing units (flexible, manufacturing)

    Cell is an important part of FMC. It can be done mostly 68727

    The repeatability of workpiece handling can be achieved by numerically controlled machine tools

    For a flexible manufacturing system or a flexible manufacturing unit to speed up the machining process

    The production rhythm, while saving a large workpiece conveying device, due to

    The manipulator device is especially suitable for the large-scale and automatic flow of machines

    Process production, [2]. However, most factories in China are now in production lines

    In the numerical control machine, the loading and unloading workpiece is still finished manually and its labor intensity

    The production efficiency is low, and the safety of workers is not high. another

    Besides, considering the flexibility of manipulators, most of the domestic manipulator devices are available

    A light manipulator with pneumatic control, but larger workpieces are machined

    The manipulator can not complete the duplication of larger and lower heavy parts

    Handling operation. At the same time, the pneumatic manipulator seals the gas source

    Higher requirements, and is not conducive to field production.

    In order to solve the above problems, according to the CNC machining line of the factory

    Actual needs, that is, the specific process requirements of the production line, this paper designed

    Manipulator controlled by hydraulic drive, calculation and analysis execution

    The mechanical performance of the gripper completes the design of the hydraulic system and the hydraulic drive

    Force calculation, design PLC control system. Test results show that the whole.

    The function of the manipulator meets the design requirements.

    overall design plan

    Manipulator control [3-5] NC machine tool automatic production flow

    The procedure is shown in figure 1. The quality of the machined workpiece handled by the manipulator is 30

    Kg, length 500 mm. The production process is as follows: first, mechanical hand connection

    Operate instructions, and then move the robot arm in a straight line

    The work piece, the manipulator's waist seat place makes the revolving movement, will process

    The workpiece is sent to the numerically controlled machine tool for processing. The workpiece to be machined is finished

    After that, the process is repeated and the machined workpiece is delivered to the workpiece

    Moving production line to achieve the purpose of automatic feeding and feeding.

    According to the 4 structural forms of industrial robots (right angle sitting)

    Standard structure, cylindrical coordinate structure, spherical coordinate structure, joint type structure),

    As well as the requirements of the automatic production line, mechanical mobile phones are made of cylindrical seats

    The standard structure, therefore, has 3 degrees of freedom: 1 rotations and 2

    Degree of freedom of movement. A cylindrical coordinate manipulator has a range of motion

    The utility model has the advantages of large positioning, accurate positioning, and simple mechanical structure. At the same time

    Consider the working load, computer control and working environment of the manipulator

    The requirements of manipulator layout, positioning accuracy, the back of the robot's waist

    Motor driven realization of rotary motion. The manipulator's horizontal arm and vertical

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