Development Of An Automatic Feed-up System Of Grinder For The Aluminum Substrate

Automatic loading and unloading system is an important part of automatic production line,which is widely used in all kinds of automatic equipment.Aluminum substrate is usually used as the storage medium of mechanical hard disk.Grinding is to smooth the surface of aluminum substrate and ensure its uniform thickness,which is mainly completed by grinding machine.The traditional grinding machine relies on manual to put the disc in the grinding area,and then manually take out the disc after grinding.Due to the large number of discs,this loading and unloading process requires a lot of manual repetitive actions,resulting in very low efficiency.According to the actual situation of the enterprise and the manual loading and unloading process of the existing grinding machine,an automatic loading and unloading system was developed in this paper.The system used a trolley with a fixed loading and unloading manipulator to move along the grinder for a circle to complete the operation of taking and discharging materials.The system completed the automatic taking and putting function without making any changes to the existing grinder,which met the needs of enterprises.The main tasks of this paper are as follows:Firstly,according to the grinding process in the production line of aluminum substrate processing in an enterprise,the system transformation needs were determined,and the overall scheme of automatic feeding and unloading system was designed.The system was composed of a fork frame and a material taking and discharging trolley.The fork frame sends the trolley into or out of the grinder,and the manipulator on the trolley completes the material taking and discharging function.This kind of separation structure ensured that the material taking and discharging trolley could move flexibly on the grinder without the fork frame,which avoided the use of multi degree of freedom and high cost industrial robot,and reduced the economic cost.Then,the mechanical structure of the automatic loading and unloading system was designed by using Solid Works,and the design principles and functions of fork frame,loading and unloading trolley,manipulator and other mechanisms were introduced in detail.On the basis of the structure,the automatic loading and unloading control system based on PLC was designed to complete the selection of core devices such as driver,motor and solenoid valve,and the PLC program development was completed according to the designed workflow.Next,the positioning error source of the system were analyzed.Aiming at the characteristics of the trolley with large mass,slow response and low positioning accuracy,and the mechanical claw with small mass,fast response and high positioning accuracy,a coarse-fine composite control system based on sliding mode variable structure control algorithm was designed.It not only ensured the positioning accuracy of the system,but also improved the working efficiency of the system.The motion control model of the car was established,and the simulation was completed.Finally,the system prototype was assembled and debugged,and the performance test of main functions was completed.The test results showed that the designed automatic loading and unloading system had achieved the design goal and met the actual production needs of enterprises.The automatic loading and unloading system designed in this paper not only realized the original loading and unloading function,but also changed the working method from the original 2 people operating a grinder to 1 person operating 2 machines,which saved labor costs,improved efficiency and achieved the goal of system transformation.