Research On Structure Optimization Of Bagged Cement Loading Robot

With the wide application of automation equipment in cement production factory,production and packing efficiency of cement have been improved,but the automation level of cement loading is relatively backward,which greatly reduces the efficiency of automated production,so the automatic bagged cement loading and supporting equipment is urgent needed.At present,the technology of bagged cement loading robot is not yet mature.The research and application at home and abroad are not extensive.How to solve this problem has become the key to improve the transportation efficiency of bagged cement loading.In order to meet the requirements of heavy load,high speed and green environmental protection during the loading process of bagged cement loading operation,through the actual investigation of cement loading site,the concrete characteristics and data of bagged cement loading are analyzed and summarized,and a parallel bagged cement loading robot is designed combined with the original equipment of cement manufacturer,and the rationality of the structure design is verified by the kinematic analysis of the robot.The lifting mechanism is optimized to ensure that it is always in a horizontal state,the structure,function and characteristics of the guiding platform and handling box are analyzed and designed in detail.According to the limit positions of robots,the marginal curve of the robot terminal workspace is drawn,and the correctness of the robot workspace is verified by MATLAB.According to the working space obtained,the trajectory of the robot is planned in combination with the actual loading site,and the working process of the robot is simulated by ADAMS,and the feasibility of the trajectory planning is verified,which provides an important reference for the research of the manufacturing of the prototype.Using the Newton Euler method for the torque of each joint of the robot is obtained the stress of the worst of the pose and key data,which provides data support for the study of lightweight robot structure.The motion process of robot is simulated by using ADAMS,and the influence of inertial force on robot working process is clearly defined.Two optimization schemes are formulated for this problem,and the results of two optimization schemes are analyzed and compared.Finite element analysis of loading robot is processed by using ANSYS Workbench,and the light weight of the robot is processed according to the stress condition of each part.Finally,the model of the core driven parts is selected and designed according to the data of the torque and speed of each joint of the robot.