Structure Design And Analysis Of Loading Robot For Corrugated Cardboard

In recent years,the corrugated paper box industry in China has developed rapidly.However,in conjunction with the nail box machine,most companies use semi-automatic nail box machine or automatic nail box machine,while some companies still use manual nail box machine,these tasks require artificial feeding,labor intensity,and production efficiency low.Feeding robots can reduce labor intensity and meet the company's production requirements.Therefore,This paper aims at the loading of the automatic nail box machine,designing corrugated cardboard feeding robots has practical significance and application value.On the basis of consulting a large number of documents,this article investigates and studies the design theory of industrial robots at home and abroad.According to the requirements of the production site,determine the working order of the feeding robot,allocate time for each process,and determine the total production cycle Determine the robot's structure type,drive type,reducer type,etc.,and design the robot's base,waist,lower arm,upper arm,wrist,and end manipulator.Calculate the size of the cylinder driven by the end manipulator and check the grip of the end manipulator.Under dangerous conditions,the torque of each joint is solved,and the motor and reducer are selected according to the result of the solutionAccording to the method established in the D-H coordinate system,the kinematics equation of the feeding robot is established.According to the dynamic analysis theory of the robot,the kinetic energy and potential energy of the robot are respectively calculated,and the Lagrangian kinetic equation is established.A virtual prototype model of the loading robot is established,and the kinematics simulation analysis is performed on the model to obtain displacement curves and joint velocity and acceleration curves of each component.The results show that the change of displacement,angular velocity and angular acceleration of each joint is continuous,and the feeding robot is stable in motion without obvious jitter and dislocation.The dynamic analysis was performed to obtain the driving torque curve of each joint,which was compared with the output torque of the reducer to verify that the motor and reducer were selected correctly.The finite element analysis software was used to perform finite element analysis of the end manipulator,connecting flange plate,lower arm and upper arm respectively,and the force and deformation were studied.The results showed that the strength and stiffness meet the design requirements.The modal analysis was performed on the lower arm and upper arm of the feeding robot.The study showed that the upper arm and lower arm had good vibration performance and high stiffness,which met the design requirements.Through the design calculation and simulation analysis of the feeding robot of corrugated cardboard,it provides a reference for the design of feeding robots for corrugated cardboard.