Study On The System And Control Of Liquid Crystal Glass Substrate Carrying Manipulator

In recent years,the manufacturing precision and process size of liquid crystal panel have become the focus of social attention.As an important part of liquid crystal panel,liquid crystal glass substrate has also become the research focus of scholars at home and abroad.The size of LCD glass substrate continues to increase,but the research on the corresponding high-generation handling equipment is still in the process of exploration,and the relevant fields are still in the blank stage,which seriously hinders the development of LCD panel industry.It is urgent to develop a liquid crystal glass substrate handling robot with high efficiency and stable operation.The research contents of this paper mainly include the following aspects:(1)The liquid crystal glass substrate handling robot system is designed according to the working process of the handling robot.The arm extension scheme of liquid crystal glass substrate handling robot was designed.Based on the analysis of the failure mode of liquid crystal substrate handling robot,the structural design of end-effector is the key factor affecting the stability of the robot.The model selection and improvement of vacuum chuck of end-effector were carried out,the end-effector was optimized,and a3 d model was established.On this basis,the finite element analysis software ANSYS Workbench is used for statics analysis of liquid crystal glass substrate under vacuum adsorption condition.(2)The liquid crystal glass substrate handling robot system is designed according to the working process of the handling robot.The research status of liquid crystal glass substrate handling robot and robot trajectory planning at home and abroad is analyzed.Based on the analysis of the failure mode of liquid crystal substrate handling robot,the key factors affecting the stability of the handling robot(structural design of end-effector)are determined.The model selection and improvement of vacuum chuck of end-effector were carried out,the end-effector is optimized,and a 3d model is established.On this basis,the finite element analysis software ANSYS Workbench is used for statics analysis of liquid crystal glass substrate under vacuum adsorption condition.(3)Based on the working principle of liquid crystal substrate production line,applied research is carried out on PLC and glass substrate handling robot,and the system hardware and software design is carried out by applying PLC technology.The handling control system of automatic production is completed,and the effectiveness of the system was verified by experiments.