| With the development of social economy,the traditional method of manual palletizing cannot meet the requirements of modern manufacturing industry for product quality and quantity.It is an inevitable trend to use palletizing robot instead of traditional artificial palletizing.However,in the ceramic,logistics,glass and other manufacturing enterprises,there are still a large number of artificial palletizing operations.Artificial palletizing has much more disadvantages such as poor working environment,labor intensity,and low production efficiency,which seriously hindered the automated production.Based on this situation,a set of workstations suitable for porcelain palletizing is designed for the characteristics of large size porcelain plates and palletizing requirements.According to the characteristics of porcelain plate research and operational requirements,we make an analysis of the palletizing workstation system functional requirements.The automatic transmission line,palletizing robot,automatic pallet supply institutions constitute the porcelain plate workstation system program.By analyzing the relative position relation and layout of the workstation related equipment,the layout of the workstation system is completed.Based on the reliability and cost considerations,a control system scheme with programmable logic controller as the core is proposed,and the control system key equipment are put forward and selected.According to the workstation workflow,the control system input and output signals for the address are allocated,the control system PLC program preparation is completed.The structural design of the terminal device of the palletizing robot is carried out,and the strength check is carried out by using the finite element analysis plug to realize the functional requirements of the robot for the grasping and handling of the porcelain plate.The KR100-2PA palletizing robot is used as the research object.The basic principle of kinematics of robot is analyzed.The construction of palletized rod linkage system and mathematical model of palletizing are completed by D-H parameter method.The kinematics and inverse kinematics analysis of the palletizing robot are carried out respectively.Combining with the established kinematics equation of the robot,the motion space of the palletizing robot is analyzed and simulated by the joint numerical method and MATLAB.Providing a theoretical basis for other achievable task space and layoutThe trajectory planning method of the palletizing robot in the joint space is explored,and the two kinds of polynomial trajectory interpolation methods are compared and analyzed.The linear trajectory interpolation algorithm and the circular trajectory interpolation in the Cartesian coordinate space are analyzed algorithm.Through the analysis of the trajectory planning method,it is very important to ensure the stability of palletizing robot palletizing process.Finally,the kinematics of palletizing robot is verified by Robotic toolbox in MATLAB.Combined with the task of palletizing trajectory,the simulation of the trajectory planning is completed,which proves the reasonability and accuracy of robot trajectory planning and the feasibility of the palletizing robot to complete the large-scale porcelain palletizing process. |
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