Design And Research Of Mechanical Structure For The Automatic Blanking Machine

Precision automatic cutting lobes line is the first fully automatic cutting line of TFT glass substrate in China.The automatic blanking machine designed in this project is the last equipment of this line.Automatic production,automatic blanking machine designed is particularly important.In this paper,the important application of industrial manipulator in automated production line has been discussed.The project of automatic blanking manipulator,which has been provided,based on the cutting process for the TFT glass substrate.Around this equipment,this paper has done the following research.This paper introduced the overall scheme for the precision automatic cutting lobe line and the layout of the equipment.According to the plan,the design requirements of the automatic blanking machine are developed.The automatic blanking machine is divided into lifting and conveying mechanism,plastic plate conveying parts,glass conveying parts.In this paper,each part is calculated and analyzed,the mechanical structure is designed,and the model of automatic blanking machine is completed.The finite element analysis is carried out for the handling arm of the plastic plate conveying part,which verified the structural requirements.And it checked the strength for the selection of parts to ensure the stable operation of the equipment.According to the task requirements and technical indicators,the paper sets out the basic technical parameters of the manipulator arm and provides the design basis of the whole manipulator system.On this basis,It puts forward the general structure scheme for four DOF Manipulator according to customer requirements.It obtained positive and inverse kinematics solution to the manipulator and solved manipulator's Jacobi matrix by DH method.This paper has analysed the working space of the designed manipulator by the Matlab Robotic Toolbox which is a numerical simulation of software.It can simulate the trajectory of space.The comparison of the two solutions which solved the simulation of spacing manipulator's trajectory and containing middle path points with three interpolations indicates that the manipulator is stable.Based on Solidworks,the main structures of the manipulator are established.Through the analysis of the working condition of the manipulator joint,designed the structure of each joint in detail and completed the working of some key components.