Design And Analysis For End-effector Of Tiled Robot

With the rapid development of the construction industry,ceramic tile as an important building decoration material,its laying has been relying on manual.However,the artificial paving efficiency is low,and the workers’ paving technology level is uneven,so the quality of paving can not be guaranteed.At present,the tile pasting robot at home and abroad has had a certain development,can achieve automatic tile picking,identification,positioning,paving and other functions,but it does not have the vibrational compaction function,paving process requirements can not be guaranteed,so the tile pasting may exist hollow drum,the height difference between tiles can not be guaranteed.In order to improve the process performance and efficiency of tile laying,the end-effector of tile laying robot is designed in this paper,and the working process of endeffector is analyzed and simulated.The main contents are as follows:(1)The work flow of the tiled robot was analyzed,and the end-effector and each part of the robot were designed in detail.SolidWorks was used to carry out 3D modeling of the endeffector.And determine the key components of each part of the selection and coordination relationship.(2)According to the characteristics of ceramic tiles,the structure and layout of the adsorption system were designed,and the corresponding pneumatic circuit was designed.The selection of standard parts such as vacuum sucker and vacuum generator was determined,and the adsorption response was simulated.(3)The vibration compaction mechanism was designed,the dynamic model was established and the corresponding vibration parameters were determined.The electromagnetic field of the electromagnetic vibration mechanism was simulated and analyzed by Workbench.On the premise of known electromagnetic field distribution,the magneto-structure coupling of the moving coil was carried out,and the motion law of the moving coil was obtained.The finite element model of mortar was established by ABAQUS,and the vibration compaction effect of mortar was simulated and analyzed.The compaction effects of vibration under different vibration frequencies were compared.The vibration adjustment scheme was designed when the mortar height difference exists in the vibration process.(4)The advantages and disadvantages of different control systems were expounded.The PLC control system was designed in detail,using the combination of PC and PLC control mode,the design of the PLC external wiring diagram and the corresponding software,and the program was simulated and verified.