Research On The Strategy Of Palletizing Refractory Brick By Robot

As a kind of high temperature resistant material,firebrick is widely used in the field of steel,cement and the like.Palletizing operation is an important procedure in firebrick production.At present,most of the firebrick palletizing work is completed artificially in domestic enterprises.The low efficiency and high cost of artificial palletizing can not meet the demands of enterprises.In order to avoid the shortage of artificial palletizing,an automatic palletizing syetem is designed to meet the automatic palletizing requirement of Taigang Refractory Company(ShanXi).Firstly,according to the palletizing process and stacking shape of firebricks,this dissertation proposes the whole design scheme of the automatic palletizing system.The action sequence of equipments in palletizing system is planned,which ensures that the palletizing system cycle can match with the compressor cycle.The mechanical structure of pose adjustment device and manipulator is detaily designed,and the control system is constructed.Besides,the internal storage area of HMI is used to storage the mass data of firebricks palleitizing.With the construction of automatic brick type selection system,the palletizing system can quickly adapt to the change of firebrick type.Then,the robot Jacobian matrix is obtained by differential transform method,and the singular configuration of robot is judged by the rank of Jacobian matrix.Also,this dissertation studies the method of avoiding singular configuration,and two new methods are proposed from the aspect of practical engineering application.New methods include setting the transition point and changing robot posture.With methods above,the singular problem in the flat palletizing of firebricks is solved.Finally,according to the requirement of firebrick palletizing,a mathematical model is established to optimize the palletizing sequence of firebricks.Effectiveness and correctness of this model is verified by an example.The palletizing path of robot is planned by the combination of linear interpolation instruction,joint interpolation instruction and robot shape instruction,which solves the wiring winding problem and singular problem of palletizing system.Palletizing program is established by modularization idea.The palletizing system can complete the stacking task efficiently,which proves the rationality of the designed system.