Research And Application Of Robot Stacking Unit For Firebrick

Based on the production demands of Xi Xiaoping refractory Limited Company(ShanXi), this dissertation carries out the design and research work of robot stackingunit for firebrick. According to the production processes of firebrick, the followingwork has been completed:(1) On the basis of the huge advantage and the current application of robot palletizingtechnology in material handling field, this dissertation proposes the program usingthe palletizing robot to assist the firebrick production, in terms of theshortcomings of the domestic firebrick production mode.(2) According to the functional and performance requirements of the firebrickproduction line, this dissertation proposes a solution of robot stacking unit whichconsists of conveyor、pose adjusting device and palletizing robot. On the basis ofthese, control program with hierarchical architecture, stacked pretreatmentprocesses and production layout are proposed. Through performance analysis andfunction realization, rationality and correctness of the robot stacking unit forfirebrick are proved.(3) According to the needs, pose adjusting device which is used to adjust firebrick’spose is independently designed and developed. According to the applicationrequirements, the program of the mechanical system is proposed and elaborated interms of integration thoughts, and key parts are designed and checked. In terms ofadvantages and disadvantages of various control methods, this dissertationproposes stand-alone control system with combination of PLC and touch screen,and introduces in details the realization of the position control. Throughexperiment, the feasibility and accuracy of the mechanical and control system areverified.(4) Software system for human-computer interaction is developed by ladder diagramand macro functions in terms of modular structure design ideas. The wholesystem is divided into five independent and interaction sub-modules in terms ofdifferent functions. And according to the method of automatic programming, afunction that enable users define program freely is developed. This dissertation elaborates in details principle and usage with an example, and designcorresponding man-machine interface for each functions.(5) According to the irregular features of stacking, a planning method for palletizingwhich utilizes group policy and adaptive systems is proposed. On the basis ofthese, the paths of each mode and each layer are planned. Besides, thisdissertation explains the method of automated palletizing with robot programminglanguage.