Design And Research Of Palletizing Robot System Based On Bag Object

With the rapid development of logistics industry,the palletizing of goods by manual handling can't meet the needs of people.In recent years,palletizing robot has been used in various industries to replace manual palletizing step by step,greatly reducing labor intensity and saving labor cost,which is of great significance to the development of our country's economy.In this paper,a robot with bag object as grabing object and van as palletizing object is designed.It is different from the previous palletizing robot based on pallet and production line,it mainly consists of telescopic arm and palletizing manipulator,which is composed of telescopic arm and palletizing manipulator,which is different from the previous palletizing robot based on pallet and production line.It can not only realize the transmission of goods,but also complete the automatic code of box-type trucks Stacking function.Firstly,on the premise of defining the working requirements and basic performance parameters of the palletizing robot,this paper selects the telescopic arm,the palletizing manipulator and the driving mode,and completes the design of the whole structure of the palletizing robot.The problems of height difference and the installation of electric drum in the expansion arm are discussed in this paper.The joint driving scheme of the palletizing robot is determined and the selection and calculation of the joint driving components are completed.Secondly,according to the structural parameters of the palletizing robot,the linkage coordinate system of the palletizing robot is established by the D-H method,and the kinematics equation is established through the parameters between the connecting rods,and the forward and inverse kinematics solutions are solved.Prepare for the subsequent palletizing robot control work.The virtual prototype model of palletizing robot is established,and the dynamic simulation is carried out by using ADAMS software.The torque and power consumption of each joint of palletizing robot and the stress of each key component are obtained respectively.The rationality of the selected motor and reducer is verified.Then,the stiffness and strength of the telescopic arm and palletizer parts are checked by ANSYS Workbench software,and the rationality of the structure design is verified.The modal analysis of the two attitudes of palletizing robot is carried out,and its natural frequency and mode shape are obtained.Through the calculation and analysis of the excitation source frequency,it is proved that the palletizing robot will not occur resonance phenomenon.Finally,the structural optimization design of the telescopic arm is carried out by taking the thickness of each arm node and the overlap between the arm nodes as the design variables.Through the structural optimization design,the weight of the telescopic arm is reduced,and the stiffness and strength of the telescopic arm are improved.Then the topology optimization design of the telescopic arm is carried out,four different optimization schemes are compared and analyzed,and finally the optimal scheme is determined.Through the topology optimization design of the telescopic arm,the whole weight of the palletizing robot is reduced and the mechanical properties are improved.