Research And Development Of Loading And Unloading Manipulator For Glass Bruting Machine

With the increasing demand for automation equipment in domestic small glass manufacturing enterprises,especially small automation equipment for glass cleaning,grinding,steeling and other processes has broad market space.At present,the loading and unloading equipment of large and medium-sized glass processing and manufacturing enterprises mainly adopts the joint type universal manipulator.The installation and maintenance cost of such equipment is high,and it is difficult to realize multi-station and multi-station popularization in small enterprises.Therefore,developing a kind of small loading and unloading manipulator with simple structure,short manufacturing cycle,low cost and certain versatility can solve the problem of low degree of automation in small enterprises,effectively improve the production efficiency and reduce the cost of enterprises.In this thesis,the research status of the loading and unloading manipulator at home and abroad and the existing models are summarized.According to the actual production environment of glass processing,the work flow of the loading and unloading manipulator is analyzed.A manipulator that can continuously complete the glass grinding process is proposed.Design the overall scheme of its mechanical structure,and further to the drive mechanism,transmission mechanism,material handling support mechanism,pneumatic adsorption device and transmission mechanism for selection design,the manipulator was modeled by 3D design software,and the kinematics and dynamics simulation were carried out by ADAMS software to verify the rationality of the movement trajectory and mechanical structure of the end platform of the manipulator.Based on ANSYS,the finite element statics analysis of the key parts of the manipulator is carried out.The reliability of the strength and stiffness of the manipulator is verified by analyzing the stress and strain nephograms.The control system is based on high performance,low cost bus technology,using PLC main controller.According to the actual project reasonable distribution of I / O port,complete the control system circuit and pneumatic wiring design,programming and external wiring diagram drawing.A prototype platform was built to conduct on-site installation and debugging of the manipulator.The automatic loading and unloading manipulator of the flat glass grinding process reaches the expected action target,meets the demand of actual production line,and can meet the production requirements of small enterprises.