Research On Industrial Palletizing Robot Structure And Control System

With the advancement of the science and technology and the improvement of the level of automation of production, palletizing robot is widely applied in the field of automation. The objects such as the pouches and the boxes are placed on the pallet in order to accomplish the works of the handling, storage, and handling and transportation logistics. The modern palletizing technology has been widely used in the large food and beverage, chemicals and coal mines and other enterprises. Due to the later start of the robotics industries, and domestic robot controller and servo motor cannot meet the technical requirements of palletizing robots, compared with the developed countries, we have a huge gap in this field. Moreover, China is a labor-intensive country now, and many palletizing works were completed by hand in many companies. Not only the efficiency is low, but also it causes the waste of labor force. So the research of the palletizing robot has a high value, and it can greatly improve production efficiency, and reduce labor costs.Based on the above issues, a hybrid palletizing robot with 4 degrees of freedom is designed. And the robot grasper can be moved in the three-dimensional space and can be rotated around the end of the manipulator. Compared with the serial robot, the robot has the advantages of high accuracy, strong bearing capacity, the small inertia of the end of the actuator. During the kinematic analysis, the overall movement of the robot can be split into three parts,parallel planar motion four-bar linkage, the rotating of the end of the actuator and a parallelogram linkage rotation around the base, so the motion analysis is more simple and convenient. In order to meet the operational requirements of palletizing robots and prevent the deformation and fracture phenomena of the robot, the palletizing robot finite element analysis is completed through the ANSYS WORKBENCH software, and the selection and design of the structures are justified.Finally, the main control system and teaching box of the palletizing robot is designed. The teaching box based on the C8051F040 microprocessor, and consisted of the display monitor, the keyboard, the control circuit, the box body. Its functions include data display, keyboard scanning and serial communication. The main control system uses the ARM microcontroller as the core of the control system. ARM microcontroller has the advantages of storage capacity, fast, stable and reliable, so it can fully meet the requirements. Compared with the ordinary IPC, the control system is small and has the strong data processing capabilities. In addition, because of the great cost performance of the control system, it can widely be used in the industrial field.