The Development Of Palletizing Robot For Liquor Package

The palletizing robot technical is an important research of industry robot.The widely use of the palletizing robot play an important role in improving production efficiency and the production quality, easing the physical work intensity, and bettering the working conditions.Among all kinds of industrial robots, the series articulated robots are widely used, The articulated robot is very popular with designer and user for its broad workspace, flexible movement, compact structure. According to the stocking characteristics and product requirements, the4-DOF open-chain Manipulator is designed and analysis its structural functions and Kinematic characteristics.And the main parts type is designed and selected.In this research, Inventor3D software is used to draw the solid model of4-DOF palletizing robots, and then aim at the structure optimal design of manipulators, and then select the servo motor, motor reducer and the end of the actuator.For the robot work requirements, perform the kinematics analysis of the manipulator by means of D-H methods and obtain the kinematics equations. Adopt the joint-space scheme to plan the manipulator motion trajectory; Respectively use MATLAB and ADAMS to obtain the kinematics forward solution and inverse solution and simulate the manipulator workspace.Base on Lagrange principle, this research has analyzed the potential energy or kinetic energy equation of palletizing robot, and using the iProperty function in Inventor to analyze the parameter of quality, centre of mass and inertia of palletizing robot manipulator, and established dynamics equation of the joints.In this paper, established the key components of the finite element analysis model. The most dangerous force status is defined as the situation of analysis. This research use the ABAQUS software to perform static analysis for the parts, the distributing nephogram of stress and deformations of each structure are attained and the most displacements in the dangerous status are obtained. The local rigidities of the robot are evaluated according to deformation results, provides a theoretical basis for the optimization of the structureFinally, this research has discussed the way of movement control, designed the manipulator control system and the PLC controlling system, and program for the palletizing robot control system. This is laying a stabile foundation for further testing of prototype.