Design Simulation And Application Research Of The Visual Brick Unloading Robot

With the continuous development of brick and tile industry,the unloading brick link cannot achieve automation which has already become the main reason that limited the brick and tile industry's production efficiency.At present,most of the brick factory adopt the artificial brick discharge mode of production.Workers who work there have high labor intensity and the employee's fee also cost company so much.What's more,the production efficiency for the company is also very low.In this case,this thesis topic has designed a visual unloading robot to solve the problem of unloading brick link which cannot achieve automation.And put forward an overall design plan for the automatic brick production line according to the unloading brick link of the visual unloading robot.In order to make the visual brick unloading robot has good dynamic characteristics,this article will analyze it from three aspects: the kinematics,dynamics and statics.The main research content as follows:1.The d-h method is adopted to establish the kinematics mathematical model of the visual brick unloading robot,and also carried out its' positive and negative motion analysis and the jacobian matrix.According to the robot's d-h parameter and operation requirements,we complete the simulation of the brick unloading robot's operation space by Matlab software.2.Based on the kinematics mathematical model is established,we use the Newton-euler method to analyze the dynamics of unloading bricks robot.And we also use the ADAMS software to simulate it's' kinematics and dynamics.The kinematics simulation results verified the feasibility of B spline function that is adopted for the joint space trajectory planning.And the dynamics simulation results has proved the evidence for all different types of joint motors' and reducer models' pre-selection.3.Using the ANSYS softwares to analyze the static state and modality of the key component and the noumenon of visual brick unloading robot.Then get stress from the key component and robot itself and also the inherent frequency of the displacement distribution cloud and visual brick unloading robot which is under twodifferent kinds of industry position.Then,we optimize the visual brick unloading robot's structure and its' wall thickness of both big and small arm.The stiffness and intensity of the brick unloading robot system has been improved a lot after the optimizing.And it's' static state and modality analysis results show that the unlearned link and the driving frequency which should be avoided of the robot system.In this case,it provides a theoretical basis and support for the further analysis of the brick unloading robot's structure.4.It has put forward the overall design scheme of automatic unloading brick production line.According to the design requirements and reliability requirements of the production line,we will have modular processing in production line.Besides,we also put forward some detail design planning especially for the module of brick unloading,truck loading and packaging.It will also provides some positive references for the design and improvement of brick and tile industry production line.And at the same time,it also exploit a simplified version of the robot control software based on RAPID language which has reduce the requirement of the operators' technical level.