Design And Research Of Automatic Assembly Device For Container Liquid Bag Valve

The flexitank as a new software packaging container,with the deepening of the application of flexitank,has significant economic advantages in the aspects of use,so that it is more widely used in various fields such as chemical,petroleum,food,feed,agricultural products and other fields.However,with the rapid development of container liquid bag,there are some potential safety problems.Because of the limitation of technology and equipment,the production efficiency of flexitank is low,and the product quality is not up to standard,and the problem of leakage of flexitank often occurs.To explore the causes of leakage,whether the valve is reliable and effective assembly is a key reason for the leakage of the flexitank.In this paper,according to the technological process of manual production of flexitank,the valve automatic assembly station of flexitank automatic production line is designed.First of all,through the understanding and analysis of the valve assembly link flexitanks manual production planning,plan process flow for automatic assembly of valve.According to the requirements of the production process and the planning of process flow,the design and selection of automatic device in the valve automatic assembly station can be done,which comprises the design and integration of the valve automatic assembly robot,and design and selection of the valve transmission device,and the design and selection of the automatic bolt feeding device.The end of the valve automatic assembly robot is equipped with a special assembly tool which is used to assemble the valve automatically,and the special assembly tool comprises a valve grabbing module,a positioning module,a lock bolt module and a hole drilling module.Then,this paper introduces and analyzes the structure of the valve automatic assembly robot,and establishes the kinematics model of the valve automatic assembly robot by using the D-H parameter method.At the same time,the forward and inverse kinematics analysis and solution of the valve assembly robot are carried out.Finally,using the Robotics Toolbox based on the MATLAB achieve the simulation of automatic assembly robot.Comparison of robot trajectory planning in joint space and Cartesian space trajectory planning,and combined with the 3D model layout of the valve automatic assembly station of the flexitanks,the joint space trajectory planning method is used to carry out the trajectory planning of the valve automatic assembly robot.All in all,it provides an important theoretical basis for the implementation of automatic assemblystation in the automatic production line of flexitanks.