Design And Research Of Loading And Unloading Robot On Efficient Bending Of Container Corner Post

With the development of world trade and the increasing demand for containers,China's container manufacturing enterprises have developed rapidly.However,in the traditional container manufacturing,the bending process of the container corner plate is still manually carried out.In order to improve container production efficiency,reduce labor costs,and improve production safety,this paper attempts to introduce the loading and unloading robot into the bending line of the container corner post sheet.A loading and unloading robot based on 2-P(Pa)parallel mechanism was proposed,and its research was carried out in terms of structural design,statics,kinematics and dynamics.The specific research contents are as follows:(1)The process of bending the bending line of the sheet metal and the site layout environment of the bending machine were analyzed,and the design parameters of the loading and unloading robot were determined.Based on the analysis,the design scheme of the robot body structure was determined.A specific pick-up mechanism that met the requirements was obtained;After determining the mechanical structure of the above robot,the virtual prototype of the robot was designed by Solidworks.(2)The ANSYS Workbench was used to analyze the static components of the column beam and the mobile carrier plate of the container corner high-efficiency bending and loading robot.The ANSYS Workbench topology optimization module was used to optimize the topology of the mobile carrier board.The modal analysis of the robot was carried out using the modal analysis module of ANSYS Workbench.(3)The kinematics analysis and simulation verification of the parallel mechanism of the robot were carried out.Firstly,a simplified model of 2-P(Pa)parallel mechanism was established.Then,the positive solution equation and the inverse solution equation of the parallel mechanism were solved by numerical method,and the inverse solution equation of velocity and acceleration were obtained.The Jacobian matrix of the mechanism was used to analyze the singularity and mechanism performance of the parallel mechanism.Finally,the simulation of the inverse kinematics was completed by ADMAS.(4)The dynamic analysis and the drive selections were performed on the robot.Firstly,the Lagrangian equation was used to derive the dynamic equation of the parallel mechanism of the robot.Then,the sinusoidal acceleration function curve was used to plan the running track of the robot's end gripping mechanism.The theoretical driving force curve was obtained by Matlab software,and then the trajectory was loaded onto the ADAMS model,and the simulation curves of the robot speed,acceleration and driving force were obtained.The theoretical driving force curve and the simulation driving force curve were compared and analyzed.Finally,the selection of robot drive components was completed.In summary,a new type of loading and unloading robot on efficient bending of container corner post was proposed in this paper,and static analysis,kinematics analysis and dynamics analysis were carried out.The correctness of kinematics and dynamics model was verified by simulation analysis,which provides a theoretical basis for the manufacture of the robot prototype.