| The glass fiber reinforced mesh sheet has the characteristics of high tensile strength,high heat resistance and easy production,and is used as a reinforcing substrate for various grinding wheel cutting blades,grinding wheels and polishing sheets.The production of grinding wheels and polishing wheels for various types of power tools and stone processing has great demand for enhanced mesh,and the export volume of mesh is also huge.This paper designs the gripping device of glass fiber mesh in the automatic glass fiber reinforced mesh production line,involving truss robot,mechanical claw,electrical control and other aspects.The main research contents include the design of the grabbing mechanism,the design of the PLC control system and Virtual debugging:(1)Grab the design of the mechanism.According to the characteristics of the glass fiber reinforced mesh and the traditional production process,a sports mechanism that can complete several tasks such as accurate mesh grabbing and transfer is designed.The mechanism consists of three parts: the truss robot,the mechanical claw clamping bracket and the mechanical claw.In the detailed design stage,the Solid Works software is used to complete the 3D modeling of the mechanism part,the Motion module completes the kinematics simulation of the mechanical claw model,and the ANSYS Workbench software completes the static structural analysis of the model.The moving mechanism of the truss robot can move and accurately position on the three axes of space coordinates X,Y and Z to realize the movement in a certain space.The motion mechanism in all directions is driven by servo motor,ball screw or rack and pinion drive,and linear slide guide,which makes the whole mechanism move smoothly.The mechanical claw clamping bracket has the characteristics of light weight,easy adjustment,high structural strength and high rigidity.The bracket is fixedly connected to the end of the lifting arm of the truss robot.The bottom mechanical gripper plays a role of clamping and fastening a plurality of mechanical claws,and can be adjusted horizontally or vertically,and is suitable for grasping of various specifications.The mechanical claw is mainly designed according to the movement principle of the slider rocker mechanism.Under the driving of the push-pull electromagnet,the end hook is quickly poked and pulled out in the small square of the mesh,and the mechanical claw is clamped and loosened accordingly..(2)PLC control system design.In combination with the movement requirements of the gripping mechanism,a control system that controls the orderly and accurate movement of each mechanism is designed.The PLC of Siemens S7-1200 series belongs to the small PLC control system,and its I/O points can be expanded to more than 256,which meets the control design requirements of multi-chip grabbing of superimposed equipment.In the three directions of movement,each of the two non-contact type proximity switches and limit switches are provided for precise positioning and limit position protection.At the same time,the control system can be integrated with other equipment to form an automated production line.(3)Virtual debugging.In mechatronic design,it is often required that the matching between the two is very high,and there can be no interference;for this reason,virtual debugging is introduced to check for possible interference and coordination between the control program and the grabbing mechanism.Through the TIA blog software and PDPS simulation software,the virtual debugging of the automatic grabbing device is completed collaboratively. |
PDF Full Text Request