Design And Research Of Cosmetic Cotton Transfer Manipulator

Cosmetic cotton has a development history of more than ten years in China.At present,most cosmetic cotton production lines still use manual transfer.When workers transfer,the speed is unstable and the production efficiency is low.Therefore,transfer manipulator is introduced to replace manual transfer to improve production efficiency.As the cosmetic cotton group is a flexible body,it is prone to side collapse,ejection and middle collapse during the clamping process.In order to realize the automatic transportation of the cosmetic cotton production line,this subject studies the mechanical properties of the cosmetic cotton group in combination with the transportation conditions and problems of the cosmetic cotton group,and designs the Transportation Manipulator of the cosmetic cotton group to realize the clamping and transportation of the cosmetic cotton group.The main research contents are as follows:Firstly,the mechanical properties of the cosmetic cotton group are studied,the mathematical model of the cosmetic cotton group is established,and the design parameters of the gripper of the manipulator are determined.The causes of side collapse and middle collapse of the cosmetic cotton group during clamping are analyzed.Taking the cosmetic cotton group as a whole,uniaxial compression experiments are carried out on the cosmetic cotton group,and the pressure displacement curve and stress-strain curve of the cosmetic cotton group are obtained.They are fitted in MATLAB to obtain the mathematical relationship between the stress and strain of the cosmetic cotton group,Based on Saint Venant's principle and material mechanics knowledge,the mathematical models of manipulator non angle clamping and angle clamping are established respectively,and the design parameters of manipulator gripper are obtained,which provides theoretical guidance for the design of cosmetic cotton transfer manipulator.Then,the transfer conditions of the cosmetic cotton group are analyzed,and the structure and layout of the cosmetic cotton transfer manipulator are designed according to the problems in the transfer process.A clamping mechanism is designed to solve the clamping problem of cosmetic cotton group.The mechanism is composed of a transmission part and a clamping part,which can realize the opening and clamping of the cotton clamping plate.To solve the problem of cotton releasing,a cotton pressing mechanism is designed.The cotton pressing plate is designed as L-shape,which can prevent the cosmetic cotton group from collapsing to the left.In order to solve the problem of the right side collapse of the cosmetic cotton group,an anti side collapse mechanism is designed,which adopts a spring guide rod mechanism,and the bottom is connected with an L-shaped bottom plate.The key components of the end effector are calculated and selected.According to the selection principle of manipulator,SCARA robot is selected as the manipulator of transfer manipulator.According to the transfer process of the cosmetic cotton group,the action flow of the transfer manipulator is designed,and the overall layout of the transfer manipulator is determined.Finally,the feasibility of the transfer manipulator is verified by finite element simulation.The finite element software statics module is used to analyze the cotton clamping plate in the clamping mechanism.It is verified that the stress and deformation of the cotton clamping plate are within a reasonable range.In order to prolong the service life of the cotton clamping plate and avoid the stress concentration caused by cracks at the position where the maximum stress of the cotton clamping plate occurs after longterm work,the thickness at the outer edge of the notch of the cotton clamping plate can be appropriately increased.The Yeoh form constitutive model is used to fit the stressstrain data of the cosmetic cotton group,the fitting parameters of the constitutive model of the cosmetic cotton group are obtained,and the fitting parameters are assigned to obtain the material properties of the cosmetic cotton group.Finally,the clamping process of the cosmetic cotton group is simulated by transient dynamics,the manipulator clamping the cosmetic cotton group is verified,and the clamping effect of the cosmetic cotton group is verified by the end effector clamping experiment.