The Research And Realization Of The Motion Trajectory Of The Mechanical Arm Used In The Bottle Blowing Equipment

Nowadays,plastic products are one of the important new materials for the development of modern high technology,which are widely used in information,energy,agriculture,industry,transportation,aerospace and ocean development and other important fields of national economy.However,as the main production equipment of plastic products,bottle blowing machine has been in a relatively slow development situation in the past period of time.The main reason is that the intelligent level of bottle blowing machinery is backward,and the application of new technology is not integrated into bottle blowing enterprises.There are various problems in practical production and application,which greatly hinder the further development of blow molding enterprises.Therefore,it is urgent to reform the existing blow bottle equipment.As an automatic machine which can replace manual work,the mechanical arm is widely used in the automatic production.The application of the mechanical arm in the bottle blowing process can improve the automatic level of the bottle blowing machine.In view of this,the goal of this paper is to design the movement track of the mechanical arm for the bottle blowing machine.Based on the semi-automatic bottle blowing machine,the application of the mechanical arm can realize the intelligent automatic bottle blowing equipment and solve the problems of low efficiency and high defective rate in the actual production of the bottle blowing machine industry.The main research contents are as follows:1.Research the technological process of bottle blowing machine.According to the development status of bottle blowing machine and the shortcomings of existing bottle blowing equipment,fully combine the advantages and disadvantages of semi-automatic bottle blowing machine and full-automatic bottle blowing machine,put forward the solution of applying the mechanical arm,improve the working efficiency based on the semi-automatic bottle blowing machine,solve the problem of low efficiency of semi-automatic bottle blowing machine,and improve the bottle blowing machine of full-automatic bottle blowing machine The heating of embryo is not stable and the die is fixed,so the defective rate is reduced.Based on the problem that the semi-automatic bottle blowing machine needs human assistance,the mechanical arm which can replace the manual work is designed,and the action and movement track of the mechanical arm in the bottle blowing machine are designed.2.Carry out kinematic analysis for the six axis mechanical arm of the bottle blowing machine.Taking the rs10 n industrial robot of Kawasaki company of Japan as the research object,the D-H coordinate system is established,the D-H coordinate parameters are obtained,the kinematic equation of the manipulator is established,and the kinematic analysis is carried out.The forward kinematics and inverse kinematics are solved and simulated.The six axis manipulator model is established by MATLAB simulation software,and the forward and inverse kinematics solutions are simulated and analyzed.3.According to the work undertaken by the manipulator in the bottle blowing machine,the movement track of the manipulator is designed.The general trajectory planning method of the manipulator is studied.The working space of the manipulator is obtained by Monte Carlo algorithm.The cubic polynomial interpolation method and the quintic polynomial interpolation method are compared.The simulation is carried out in MATLAB.The quintic interpolation method is used for trajectory planning.In MATLAB,the robot toolbox is used to draw the trajectory of the manipulator applied in the bottle blowing machine.4.Build the six axis manipulator system of the experimental platform.UG is used to simulate the bottle blowing action of the manipulator.According to the technological process of the bottle blowing machine,the action of the manipulator is analyzed,and the motion simulation is carried out to get the speed and acceleration of the manipulator.Then the upper computer is used to experiment the manipulator,so that it can complete the expected action.