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