| The flat panel display industry,which produces over$100 billion annually,is known as the"grain industry"in the electronic information industry and is one of the symbols of the country's scientific and technological strength.Liquid crystal screen(LCD),as major carrier in the flat panel display industry,has a complicated production process,easy to break and high precision.Based on the HS-BR5110 domestic five-axis industrial robot,this paper designs a large-size LCD screen robot handling system.By designing the layout loop of the LCD screen suction cup,it can switch between 55-inch,65-inch,75-inch and 86-inch,which enhances the versatility of the system.Due to factors such as easy reflection of the LCD screen and poor imaging quality,this paper proposes a positioning scheme with a structural hard limit and a laser sensor to compensate the center deviation,which reduces the cost and meets the positioning accuracy requirements.Taking advantage of the large size,thinness and high accuracy of the LCD screen,this article improves the stability of the LCD screen robot handling system from three aspects of suction cup selection calculation,kinematics analysis,and robot trajectory planning to prevent the LCD screen from falling during the handling process.Distorted,the LCD screen was scrapped.While ensuring the stability of robot handling,in order to improve the handling efficiency as much as possible,this paper also establishes a mathematical model of time-impact integrated optimal trajectory planning.Genetic algorithms are used in this paper to solve mathematical models.However,traditional genetic algorithms tend to slow convergence and immaturity.Based on the integration of traditional genetic algorithms with fuzzy control theory,this paper can adaptively adjust the crossover rate and mutation rate of the evolution process and further optimize the results of the mathematical model.In addition,this paper also uses the cubic uniform B-spline function to interpolate the motion trajectory to make the movement of the LCD screen handling robot more stable.Finally,the paper completed the simulation experiment based on Matlab:(1)Create the HS-BR5110 robot model,and verify the correctness of the model through forward and reverse kinematics simulation;(2)Carry out the simulation of the LCD screen destacking path planning to provide trajectory planning Path;(3)Establish a time-shock mathematical model on the basis of the first two experiments.By adjusting the weight ratio of shock/time,the best mathematical model of the project and the model optimization law are obtained.The experiments show that the trajectory optimization method proposed in this paper is effective,the simulated impact value Q of the robot is reduced from 557.40deg/s~3to 80.73deg/s~3,the time is reduced from 32.87s to 18.40s,the impact value obtained by taking the average value of 2.5s with the interpolation time is 139.1deg/s~3,also has obvious optimization.In addition,the system's on-site operation debugging shows that the LCD screen robot handling system designed in this paper meets the positioning accuracy requirements of mm,the four LCD screens achieve stable suction and switching,and the system cost meets the requirements of the enterprise.The mathematical model of time-impact optimal trajectory planning designed in this paper makes the handling cycle within 3 minutes,and the system stability is significantly improved. |
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