Research On Designing Of Automatic Swing Machine And Motion Characteristics For The Sapphire LED Bar

With the continuous improvement of industrialization development and the quality of people's living standards,how to improve the stability of product quality,improve production efficiency has been a corporate goal.Therefore,automated as much as possible is a good way to improve the competitiveness of enterprises.The paper is based on the pendulum strip process status of the energy saving lamp wick production line in a photoelectric technology Co.,Ltd,and have designed a automatic swing machine specifically for sapphire LED strip automatic handling and placing.The machine has the advantage of compact structure,fast action,simple control,can be a way to replace the previous artificial pendulum to achieve partial automation of the energy-saving lamp wick production.Firstly,according to the automatic pendulum machine's feeding mode and discharge requirements,and the movement was diveded into feeding,absorption,transport and placement,and according to the four main parts,the machine was divided into feeding mechanism,robots and a tray transport mechanism,and these agencies was analysed and designed concretely,then the overall structures of automatic swing machine was proposed.The paper described the basic theory of D-H method and the equation of motion of manipulators pose,and created manipulator's linkage coordinates with these theories,then,the manipulator end effector's kinematics equation was derived with the D-H theory.The space positions and the poses of each manipulator motion member and end effector were determined.The paper checked the maniputor end effector's pose on the specific position.Then verified the correctness of the manipulator kinematics equation.According to the characteristics of automacic swing machine moving rapidly,the paper carried on the time-optimal trajectory planning for the conveying process which percentage was largest in the entire move stroke,so that the running time of the manipulator's movement processes was short,and simulated the trajectory with MATLAB software.Secondly,referencing point thinking on NC maching processing,the electrode welding plate groove center was looked as the center of holes,according to the orthogonal path planning algorithm,the paper carryed on path planning for the placing order,enventtly,acquired the best placement path of the sapphire LED strips.On the basis of automatic swing machine movement analysis and time-optimal path planning,the paper carryed on the kinematics simulation of the automatic swing maching with ADAMS software,and acquired the motion characteristic curves of each actuator and end effector.Then the paper analysed and evaluated the simulation results of each actuator displacement,velocity,acceleration.Finally,the paper built the prototype of automatic swing machine,edited the procedure and made experiment with TC55 PC V2.4,and verified the correctness and operability of research results.