| With the development and expansion of industrial scale, firebricks are more andmore widely-used and the demand is growing. Currently, firebricks are widely used inhigh-temperature operating conditions such as the production of steel, cement, glass.But there are many problems in the productive process of firebrick, such as lowerdegree of automation, worse working condition and higher labor cost, which restrictthe development of firebrick manufacturer. To meet the production requirements ofShanxi Maotai Company, this dissertation aims at the design of a firebrick palletizingsystem with robots. The main parts are as follows:The function and performance requirements of the firebrick stacking unit areanalyzed. Based on the requirements analysis, a system with a transfer adjustmentplatform, a palletizing robot and a multi-DOF end effector is proposed. Then the workprocedure and unit layout of the system are planned. At last through process analysisfeasibility and rationality of the system are proved.According to the process and construction requirements of the platform and endeffector, the structure of the system is designed. Then the driving and transmissionparts are selected, and the strength and stiffness of the key parts are checked by finiteelement methods.A robot is selected according to the parameters of firebricks and the stacking type.Then the D-H parameter mode of the robot is built and the joint interpolation principleis analyzed. Based on the analysis, the multistage PTP approximation method isadopted. Then the path of pick to place is optimized using the genetic algorithm. It isproved by the actual experiment data.Through the analysis of the target buttress and palletizing mode, a reasonablestacking method is put forward. Combined with robot programming language andmodular design ideas, the automatic palletizing of firebricks is realized. In the end, thepalletizing system is successfully applied to practical production and proves to besuperior and reliable. |
PDF Full Text Request