Design And Analyse Of Slice Loading And Unloading Manipulator For Vertical Production Line Of Insulating Glass

With the introduction of the country's new rural construction policy and the rapid development of real estate,insulating glass,as a necessity for houses,has a broader market prospect.However,at this stage,the process of manufacturing insulating glass is still in a semi-automated state.Manual loading of glass and manual loading of glass make manual labor intensive,low efficiency in manufacturing hollow glass,and high labor costs,which severely restrict the development of the fully automated era.Aiming at the semi-automatic status of the manufacturing process of insulating glass at this stage,this paper designs a robot for the upper and lower sheets of the insulating glass production line.This article first introduces the current research status of loading and unloading manipulators at home and abroad,and then proposes the overall design of the loading and unloading manipulators for the hollow glass production line,and further elaborates the structural design,selection calculation,and finite element of key components of the loading and unloading manipulators.Analysis and kinematics and dynamics analysis of the loading manipulator.The detailed content has the following aspects:(1)According to the working environment,process requirements and technical parameter requirements of the loading and unloading manipulator,the overall design plan of the loading and unloading manipulator for the hollow glass production line is determined.(2)Explained the details of the size of the upper and lower manipulators,the end effector,and the design of the base,and the selection and calculation of the motor,reducer,rack and pinion,synchronous toothed belt and suction cup.(3)Use ANSYS finite element analysis software to conduct static analysis and modal analysis on key components to ensure that the key components have sufficient strength and rigidity.(4)Use D-H notation to establish the coordinate system,establish the kinematics equations,obtain the kinematics forward and inverse solutions,and use ADAMS to verify the correctness of the kinematics equations.Establish Lagrangian dynamics equations and use ADAMS to obtain relevant diagrams to verify the correctness of the structural design of motors and reducers.(5)According to the control requirements,the design of the end effector gas circuit,system hardware,and system software was completed,and a prototype was made,and the debugging results met the expected requirements.