Structure Design And Dynamics Analysis Of Mobile Bag Cargo Palletizing Robot

At present,most of the loading,unloading and palletizing of goods in bags of van in our country still rely on manual work,which not only reduces the efficiency of loading and stacking,but also increases the labor cost.Cement handling,the environment is bad,manual handling,harmful to health,and prone to danger,because the traditional palleting robot is not suitable for the van truck palleting,so the traditional palleting robot was designed and modified,designed two kinds of palleting robots.Firstly,the working environment of the palletizing robot is understood and defined,and the performance parameters of the palletizing robot are designed.The structure type of each part of palletizing robot,driving mode and transmission mode are selected preliminarily.During the structural design,the structural problems and installation problems of palletizing robots A and B during the working process were solved.The structure and working principle of end-effector are introduced.The combination and connection of each part completes two overall structure schemes of palletizing robot.Finally,the selection and calculation of the driving system including hydraulic cylinder,pneumatic cylinder,motor and reducer are completed.Second,under the premise of in setting the robot's the working process and track route,kinematics simulation can draw displacement and velocity curve of the palletizing robot's end-effector,the driving joint torque and power consumption,telescopic arm,moving arm and force of the manipulator,by looking at the curve smoothing or mutation to verify the motion stability,it is concluded that whether the maximum torque and power consumption data is less than the second chapter of the selection calculation results verify motor and reducer whether to meet the needs of work,it is concluded that force as statics analysis provides data preparation.Then,the maximum equivalent stress is obtained through the static analysis to verify whether the strength of palleting robot meets the requirements and the maximum deformation displacement to verify whether the stiffness of palleting robot meets the requirements.The first 6 natural frequencies and corresponding mode shapes are obtained through the modal analysis to avoid resonance in some cases with low frequencies.Finally,the structural optimization experiment is carried out by reducing the thickness of the moving arm and increasing the length of the moving arm to reduce the overall weight of the moving arm.A set of solutions with the lightest weight,the smallest equivalent stress and the smallest deformation are obtained through optimization.