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TheOverallDesignoftheProductionLinePalletizingRobotBinHE1,a,Hai-NanNIU2,QuanLIU1,Yu-QiLIU31BeijingInformationScienceandTechnologyUniversity,China2Schoolofeconomicsandmanagement,ChangshaUniversityofScienceandTechnology,China3ZhouEnlaiSchoolofGovernment,NankaiUniversity,Chinaawfalw104@vip.
qq.
comKeywords:PalletizingManipulator,MechanicalStructure,Design.
Abstract.
Thisstudydescribestheproductionprocessofglassproductionlines;accordingtotheproductionprocessisdesignedtotakethelineterminalboardmanipulator,usingPro/Esoftwaretodesignthemechanicalstructureofthethree-dimensionalsimulation,butalsogivessomestandardpartsdesignandselection.
Completethecontrolstrategyoftherobot.
IntroductionIntheproductionline,palletizingrobotneedstobeabletoquicklyandaccuratelypickup,placeandhandlingobjects.
Theyshouldrequesthighprecision,fastresponse,certaincarryingcapacity,sufficientworkingspaceandflexiblefreedomandthepropertiescanbeautomaticallypositioningatanyposition.
Palletizingrobotdesignprincipleshave:Comprehensiveanalysisofthejobobjectofthetechnicalrequirementsofthejob,planningthemostreasonablejobprocessandtechnology,andtomeetthesystemfunctionalrequirementsandenvironmentalconditions;Clarifythestructureoftheworkpieceshapeandmaterialproperties,positioningaccuracy,crawl,mechanicalcharacteristicsduringtransportation,thesizeandqualityparameters,andtodeterminethestructureandoperationoftherobotcontrolrequirements;Asfaraspossibleselectionofstandardcomponents,simplifyingthedesignandmanufacturingprocess,takingintoaccountthegeneralandspecificnature,andcanachieveaflexibleconversionandprogrammingcontrol.
Thestudymanipulatorglassproductionlineautomaticpickplatepalletizingrobotissuitableforlargeorsmallandmediumglassproduction,canchangetheautomatichandlingoroperationofthedeviceoperationprocedures,safetyrequirements,professional,laborintensitylargeandoperationfrequentproductionmonotonousoccasion[3].
GlassPalletizingSystemIntroducedGlasspalletizingsystemisatypicalmechatronicsystem.
MechatronicSystemsconsistsofmechanicalsystems,electronicinformationprocessingsystems,powersystems,sensorsystems,actuatorsystem,anditsfunctionasthemainfunction,motorfunction,detection,control,structurefunction[4].
Intheglasspalletizingoperation,themostcommonproblemisthefragileglass,easytoscratch,likelytocausebodilyinjuryofstaff,inordertomeettheneedsofautomatedmachineryproduction,palletizingrobotemerged.
Palletizingrobothaspalletizingspeed,pickandplaceaccurate,andflexibleoperation,reducethelaborintensityandpersonalinjury,improvedworkingconditionsandreduceglassdamagerate.
Thedesignofthreemainmodules,thetransmissionmodule,flipmodule,stackingmodule.
Manipulatoroverall3DdesignisshowninFigure1.
1.
Fig.
1.
1GlassProductionLinePalletizingRobot3DDesignGlassMechanicalDesignAnalyzingthepalletizingrobotprocessistodeterminethemechanicalstructuredesign.
Accordingtodifferentfunctions,thedesignisdividedintotransmissionsystemdesign,flippingsystemdesign,stackingsystemdesign;thefollowingwereseparatelydesignedforeachsystem.
TransmissionSystemDesignDesignrobottransmissionsystemismainlydividedintostickdesignandtransmissionstentdesignaccordingtotherequirementsoftheoriginalglassproductionlines;transmissionrollerspacinganddiametertransmissionlinewiththepreviousdesignrequirementsarethesame,namelyaknownsize.
Its3DdesignisshowninFigure2.
1.
Transmissionrollerchaindrivesadoption,ononesideoftherollerinstallation.
Fig.
2.
1TransmissionSystem3DDesignFlipSystemDesignFlipsystemdesignismainlydividedintothesuckerarmdesignandcrankrockermechanismdesignintwoparts.
FlipoverallsystemdiagramshowninFigure2.
2.
Fig.
2.
2FlipOverallSystemDiagramSuckerArmDesign.
Accordingtothesizeoftheglass,theoverallsizeofthemanipulatorandthedistancebetweenthesinglesuctioncuparmandthestructuresizearecalculated.
Minimumsizeofglassis400mm*400mm,Maximumsizeis2000mm*2000mm,thedistancebetweentheindividualsuctioncuparmisd':Rollerdiameterd6,taken=5.
Its3DmodelingdiagramisshowninFigure2.
3.
Fig.
2.
3MechanicalHandSuctionCupArm3DDesign(1-smallarm;2-arm)Intheprocessofstackingglassproductionline,itisnecessarytotakeaglassfromtherollersdown,followtheprincipleoftakingflatlevel,thusliftingdeviceselectionparallelogramlinkage.
Verticalparallelogramlinkagerodthatisparallelandequallengthdoublecrankmechanism,ithasamemberissimple,easymanufacturing,lowvicestructure,hightransmissionaccuracy,wearresistance,etc.
,anddrivemeanscooperatingtoachieveglasspickandplace,thelevelofmobilepositioning[1].
Positioningtheliftingdisplacementoftheparallelquadrilateralmechanism200mm,Theanglebetweenthecrankandconnectingrodas45°,thelengthofthecranklcrank=200*≈350mm.
Fig.
2.
4TransverseLinksEnlargedViewSincethepneumaticdrivesystemmovesquickly,responsive,resistanceandleakagelossissmall,lowcost,andthereforethedrivechuckframeusingpneumatictransmissionmode[5].
MountingpositionofthecylindershowninFigure2.
3,theinvertarmisdesignedtoformaU-shapedgroove,bothtopreventtheerosionofdustonthecylinder,themanufacturingprocessissimple,andcanreducethedifficultyofinstallationofthecylinder.
WhichisinstalledintheU-shapedgrooveonlytwocylinders,theotherU-lineslotsareconnectedwiththesuckerrodholder,eachU-shapedgrooveofthecylinderrodwithahorizontalrodconnectedtoapartiallyenlargeddiagraminFigure2.
4shown,sonotonlyreducesthenumberofcylinders,andreducingcosts.
CrankRockerMechanism.
Thisdesignwillcrankrockermechanismdesignintheformoftwointerconnected,asshowninFigure2.
5,onlyonesetofamotor-drivencrankrockermechanism,flipthearmsonbothsidesofthetwogroupscanbedrivenbyadriverod,bothtoreducethenumberofmotors,butalsoreducesthesuctioncuparmshakingduringexercise,increasingthestabilityandreliabilityoftheentireorganization.
Slider-crankmechanismandthereversingmechanismraillinkandformaquadrangle,therearetwoextremepositionsofthequadrilateralformatriangleABCwhenthecrankandconnectingrodcollinear,whenthecrankandarailline,connectingrodrailandfliparmformanothertriangleDBE.
Flipknownlengthofthearmandtherailbase,accordingtotherelationshipbetweenthesidesofatriangletheorem,trianglelawofcosines,transmissionangleγmin≥40°~50°(γmin=40°)Calculatethelengthofthecrankandrocker.
Take∠ABC=110°,∠BDE=30°,lAB=1000mm.
Bythelawofcosinescanbeobtained:=(2.
1)(2.
2)Bythesidesofatrianglerelationtheoremcanbeobtained:(2.
3)(2.
4),000mm,:,.
Fig.
2.
5CrankRockerMechanism3DDesignFig.
2.
6SingleCrankRockerMechanismTrajectoryDesignStackingSystemDesignAstackedshapedstentusingthestentaccordingtothemaximumsizeoftheglass2000*2000mm,theminimumsizeof400*400mm,theheightofthestentmaybedesignedto2mm,awidthof2mm,theanglebetweenthebracketandthehorizontalarmcanbesetflipangle,i.
e.
θ=180°-110°=70°.
AsshowninFigure2.
7,inordertoplacethevarioussizesofglass,theintermediatesupportstructuremadeofbeams,theminimumsizemaybeheightglasstransomwiththebottomsurfaceofthestentbetweentobe,thatis,h=400mm.
Thedesignofthestentisdesignedtobeslidablealongtheguiderailform,whichcaneffectivelypreventthephenomenonoftheglassrollstackingprocessbecauseofvaryingqualitycausedbythemountingbrackets,increasethestabilityofthestentandthestentcanslidealongtheguiderail,flexibleConvenience.
Fig.
2.
7StackedGlassHolderSummaryThischapteranalyzestheprocessofpalletizingrobotdesigned3Dmapeachsection.
Thischapterfocusesontheinvertarmmechanism,suckerarmmechanism,rockermechanism,stackingbracketFigure3Dmodeling,andtheuseofPro/Edesignthree-dimensionalmodel,andderivetwo-dimensionaldesigndrawings.
Althoughthedesignisnotthebest,butaftertheredesignandimprovementofacertainmodel,itisofgreatsignificanceforimprovingtheefficiencyofglassproductionlinepalletizing.
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