Design And Development Of Carton Palletizing Robot And Its Complete Sets Of Equipment

The thesis closely intergrates the subproject of palletizing robot industrial cluster district in Wumahe–Serialize the transfer robot and its pilot exercise, searching design and development palletizing robot and its complete sets of equipment. Take a robot palletizing of an enterprise as an example to show the domain part---kinematic analysis of palletizing robot; technical specification; a design of an control system that based on LabVIEW and control system design of palletizing robot based on PLC technology of palletizing robot production line.The specific works are outlined as follows:Firstly, make a full investigation of the demand of palletizing robot and the structure characteristics, implement the purpose that cartons come from the production liner transfer into the palletizing robot stacking, and then induce the comprehensive planning over the whole palletizing robot production line structures; obtaining the forward solutions and inverse solutions through the the method of D-H which based on kinematics analysis, set the initial parameter and operational space in order to gain the size of main lever measure.Calculating the electric machine and speed reducer based on the main parts of palletizing robot from production line, and make the verbose structure design according to SolidWorks platform. Analyzing the diversity of products assisted with two kinds end-executors which has detailed structure design.The idea of palletizing robot, searching on its motion control system, molding palletizing robots control hardware platform based on the core hardware configuration of‘PC +motion control card' form, design and construct the circuit diagram of electric system.With the ray trajectory equation of modified trapezoidal and the point-to-point route planning, intergrating the function requirement, create the palletizing robot software control system based on LabVIEW platform.In order to improve the reliability and efficiency of production line, we adopt SIEMENS S7-200 PLC auxiliary control system, planning the production line and design the electric system circuit diagram on the basis of carton integer arrangement method,create an application software system straddle STEP7 and LabVIEW programming environment. We conducting joint debugging on systematic hardware and software and design the related experiments. The experiment results show that, this kind of palletizing robot production line system satisfy the demand of carton palletizing, and it reaches the final expectation. This essay can provide the reference for the design of similar products.