Research On Robot Automatic Palletizing Integrated System

With the development of quality of life, there is a greater demand for a better qualityof brick products. The traditional way of conveying and stacking bricks methods can notmeet the quality requirements of brick products. So the robot automatic palletizingintegrated system is designed in this paper. Bricks automatic transmission and robotautomatic palletizing is achieved. The damage of the bricks is reduced. The quality of thebricks is improved. Robot automatic palletizing integrated system is composed of a touchscreen, PLC, control system and executive agencies. It is controlled by PLC, in order toensure security, stability and effectiveness.This paper firstly introduced the background and significance of the research, researchand develop level of domestic and foreign, the main contents of the research.D-H model of four degree of freedom palletizing robot was established. Thekinematics of four degree of freedom palletizing robot was studied. Forward and inversekinematics were got. Trajectory planning was studied according to its actual work. Thesimulation of the trajectory planning was done based on MATLAB. Through the analysisof simulation results, the feasibility, reasonableness and accuracy of trajectory planningwas verified.The smooth running of the palletizing robot was ensured.The mechanical structure of the robot automatic palletizing integrated system wasdesigned. It included receiving the bricks module, detecting and recovering broken bricksmodule, collecting bricks module, commutating and arranging module, everting bricksmodule, lateral parting bricks module, longitudinal parting bricks module and robotautomatic palletizing module.The hardware system of the robot automatic palletizing integrated system wasdesigned. Communication between PLC and PC is tested. The wiring of hardware wasstudied and completed.A friendly human-computer interaction interface was designed. The control systemapplication of the robot automatic palletizing integrated system was wrote. The carouselstepper motors were controlled by the master PLC. The transverse parting stepper motorswere controlled by the slave PLC. Communication between the PLC was achieved byusing PPI cable. The real-time monitoring of production site was achieved by the use ofHMI. And the safety and effectiveness of the production process was ensured.