Research On The Design Of An Online Palletizing Robot For Ultra-thin Glass Based On The Flip Type

Traditional glass palletizing robot is generally used in tandem joint and rectangular Cartesian type,two types of glass stacking robot end of the basic use of the lower pressure adsorption sorting glass plate,its motion path is complex,covers a large area,control accuracy requirements,once the control accuracy is insufficient,easy to squeeze glass,causing glass breakage.This research is mainly aimed at ultra-thin glass sorting and design based on flip-glass online stacking robot.Firstly,the robot adopts multiple degrees of freedom controllable mechanism,using the crank and rocker mechanism to realize flip,the movement path is simple,and its quick return characteristic can improve the stacking sorting efficiency;Secondly,the robot end sucker arm is distributed across the rollers,the sucker arm adopts the on-hold adsorption type,which can avoid the breakage of the glass due to insufficient control precision;Combined with servo control and linear guide,to achieve accurate and smooth operation.The main research process of the glass crib robot is as follows:(1)According to the actual production environment and requirements,select the controllable mechanism as the glass palletizing robot control mechanism.First,the motion diagram of the whole machine is designed,the kinematics of the mechanism is analyzed and the degree of freedom is calculated,secondly,the ratio of the stroke speed ratio k,transmission angle ? and the size constraint of four bar in the total objective function is minimized by the weighted coefficient,and the general objective function is optimized by using the genetic algorithm in MATLAB tool.To realize the optimum size design of the turnover mechanism,then the linear feed Motion guide,the end sucker arm and the pneumatic circuit are designed,and the suction cup model is selected by calculating the adsorption force size.Finally,the whole robot assembly is completed by Soildwork software.(2)In order to understand the most affected parts of robot motion process and to realize structure optimization,a method based on finite element analysis is proposed.Coupled with the vibration characteristics and vibration resistance of the glass palletizing robot,the finite element analysis of different vibration types of the support frame and the whole fuselage of the robot base is made,and the analysis results show that the weakest link of the base support frame and the whole fuselage are checked,which provides early warning and reference for the faults appearing in the later vibration.(3)In order to make the robot dynamic operation characteristic and vibration more clear,verify the whole structure design of the robot is reasonable,use matlab-adams to carry on the kinematics joint simulation to the glass palletizing robot,by adjusting the control function and the system parameter,get the change of the motion parameters of the glass palletizing robot during the movement.The simulation results show that the displacement,velocity,acceleration and stress of the end sucker arm of the glass palletizing robot are changed,which verifies the correctness of kinematic analysis and mechanism design,and provides the basis for the research of the servo control system.(4)Based on the results of kinematics simulation,the servo control system of the glass palletizing robot is designed,the software and hardware of the robot control system are developed,and the optimal stability control is achieved by adjusting the PID parameters.The reliability and practicability of the design are verified by comparing the actual test data with the simulation data.Through the combination of mechanism design method,numerical calculation,control technology and experimental analysis results,the whole design of the ultrathin glass stacking robot is completed,which improves the production efficiency and reduces the glass breakage rate.