| The rapid development of modern production technology is gradually changing the traditional manual operation method,more efforts are being made to utilize advanced industrial robots instead of manual labor to complete certain automated production line tasks.But there are also many challenges in the practical application of industrial robot technology,different industrial robots need to make corresponding changes according to the requirements of the on-site working environment and workflow.This subject focuses on the heavy load and safety issues of glass handling in a hollow glass production line of a certain enterprise,designs and develops a five axis glass handling robot to solve the above problems.Firstly,complete the overall design of the glass handling robot according to the requirements of the production line.Secondly,analyze the overall structure of the designed robot and optimize the design of key robotic arms.Then plan the speed of the robot with the aim of reducing impact and saving time.Finally,a complete servo control system is built.What’s more,achieve the scale,flexibility,and integrated handling control of the large-sized glass through on-site installation and commissioning.The main research contents of this thesis are as follows:(1)According to the working environment of the workshop and the process of glass handling,after analyzing the main structural types of the glass handling robot,the overall structure of the glass handling robot is designed;Then based on the load and operating parameters of each axis,the main structure of the moving units and power units are calculated and selected.And according to the characteristics of moving objects,design 4× 3 array vacuum suction cups serve as end grabbing devices.(2)In order to verify that the dynamic and static characteristics of the robot meet the design requirements,the structural analysis of the robot was carried out in the finite element analysis software ANSYS Workbench,the statics and modal analysis in the structural analysis also provide a technical reference for the optimization design below.In addition,to solve the problem of the large size of the key manipulator,an optimization design method combining response surface method and MOGA algorithm is proposed.Sample points were generated by OSF experimental design method,and a response surface model is established.Combined with MOGA algorithm to search the optimal Pareto solution,the mass of the optimized Y-axis is reduced by 16% while reducing deformation,and the mechanical performance of the robot is improved.(3)Combined with the analysis of the robot’s working path and suction cup swing,the commonly used T-shaped planning,polynomial speed planning algorithms,and trigonometric function planning are analyzed in terms of impact and time optimization.Finally,an improved quartic polynomial "S" type velocity planning algorithm is proposed,and the improved velocity planning algorithm is simulated and compared with the current similar algorithms.The time superiority of the improved velocity planning algorithm is verified.(4)The motion controller is selected as the core to control the working process of the glass handling robot,design the control system schematic diagram and hardware architecture,what’s more,the control system hardware is selected.CANopen is used as the fieldbus to replace the traditional complex line connection.In the software part,the design of control programs and human-machine interaction interfaces is completed,which improves the reliability and operability of the servo control system.In the end,the robot installation and debugging are completed in the enterprise workshop.Through the actual work situation verified that the design of the glass handling robot and the construction of the servo control system meet the needs of the enterprise. |
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