Research On Some Key Technologies Of Automatic Loading System

With the development of automation in the production in the factory, more and more companies are willing to use automatic machines, such as the line conveyors, robots instead of humans because of the higher cost of human. For the majority of companies whose productions are packed by boxes, they begin to use automatic machines in order to make the loading process automatic. However, there isn’t any mature production suit to every box-packed production. In this case, it’s of great significance to speed up the development of a stable and reliable automatic loading system (ALS) to realize the integrated work from production to loading automatic. This paper is based on a practical project, and makes some explorations and researches on some key technologies of ALS.Firstly, this paper makes a general design on ALS,and for the key technology of automatic guided vehicle(AGV), we finish the design of its mechanical structure, establish the kinematics model of two-wheel differential steering, and discuss the driving control system design. By using the linear-quadratic-controller (LQR) and MATLAB/Simulink software, this paper analyses the status of the system response when given the typical input signals, and complete the design of AGV navigation and the algorithm of sensor detections. Secondly, for the key technology of the tensioning force servo control technology of the telescopic belt conveyor, we maks some study on the pneumatic force feedback control system by using closed-loop and its transfer function, bulid up the mathematical model respectively before and after using PID controller by using MATLAB/Simulink, and when given some typical input signals, we analyse the dynamic response and the following performance of the system by simulating the change of the tensioning force; Thirdly, for the dynamic performance of the base of palletizing robot, the kinematics analysis on the robot of the typical condition is carried out by D-H method; after getting the moving curves of every joint, the reaction force and torque is calculated by using ADAMS software, finally we bulid up the simulink model. Considering the reaction force of Y-axis as the input signal, we make a analysis on the response status of the base by calculating the displacement in vertical direction and the angle around Z axis.This paper makes some research on the key technologies of the ALS, in order to provide reliable reference for the further research and application of ALS.