Research On Automatic Tube Feeding System Of Tubular Bottle Production Line

With the development of science and technology,the enterprises of tubular bottleindustry transfer and upgrade their industrial equipment constantly. Currently,most of theworking procedure are manually completed with poor working conditions and lowefficiency.Using the robot technology,we try to solve how to load glass tubes automaticly.This paper mainly research on the mechanical structure and control system of automatic tubefeeding system. The kinematic and dynamic model of the system have been formulated, andon base of that,the system error has been analyzed.Firstly,according to the analysis of tubular bottle production line,defining the functionrequirement and action flow,putting forward the overall design scheme,distributing actionprocess reasonably.Secondly, in the process of structure design,we establish kinematic model according toD-H.The analysis includes positive and athwart,which ascertain attitude connection andlocation between member and implement;The article establish dynamic model according toLagrange,which ascertain the relationship between arthosis movement and the drivingforce.Then we analyse the system error with a revised D-H to obtain the relationship betweentiny error and accumulative error.The automatic tube feeding system has been divided intoPipeline Structure and Transfer Structure.We finish the structure design with Solidworks andanalyse the clamping force of mechanical claw.Lastly, through analyzing the control process of automatic tube feeding system,this paperadopt PLC as the controlling core.The code is respectiely designed for manual operationmode and automatic operation mode.