Design And Research On End Effector And Control Module Of Ceramic Tile

American Devol industrial robot patent has been published for more than half a century From 1954.Its growth process confirms this conclusion:Robot is a great invention in twentieth Century.The progress and application of robotics is the most significant achievement of automatic control in twentieth Century.Entered in twenty-first Century,people are more and more deeply feel the depth of the robot industry,into life,to infiltrate the various corners of the solid pace of the community.Building robots belong to special robots,such as the tiles to be studied in this paper,which is characterized by the development of the majority of the main building and decoration projects.These robots for the construction industry to save labor and security to make a contribution,but there are still many problems in the economic level,which is an important reason for the construction of the robot cannot be popularized.Based on the industrial robot as the research background,special design can be completed at the end of the tile paste actuator,which is based on the SolidWorks simulation in the end of the actuator design for static analysis,verify whether sucker rack can work normally.Then the design of the end effector of the vacuum system,is a system can achieve the conversion of positive and negative pressure,draw pneumatic system flow chart,system vacuum adsorption system including gas raw device,vacuum filter element,direction control element,flow control elements and actuators,respectively for each element were calculated,and based on the SMC company Vacuum Adsorption Transfer system Selection Software Ver.1.0-Moder selection software to simulation that the vacuum adsorption system design at the corresponding time and release time.So as to verify the design of the gas system to meet the requirements of the work.In the end,the control system of the tiles is analyzed and designed.The control system of the FX2N series PLC based on the Mitsubishi Co is the control unit to complete the movements of lifting,grasping,moving and moving.After the introduction of the function and sensor components selection and PLC control system hardware connection,implementation of the form and control through the function of the manipulator,each scheme is given.Finally,the PLC control system of SFC(Sequential Function Chart)diagram,ladder diagram and instruction list program software program design,selection of programming software entry procedures according to the work order for debugging,and continuous optimization.Compared with the relay contactor control system,the design of the system has higher control precision,better reliability and better safety performance,and the failure rate will be greatly reduced.Through the above research,we get the design scheme for tile paste robot,PLC control system can make the robot to complete the process of adsorption,pasting tiles based on the established theory basis for the future to further study on robot architecture.