The Virtual Design Of Bagged Material Palletizing Robot Device

With the rocketing development of science and technology,the level of automation continue to improve in industry.Many small and medium enterprises have accelerated the pace of automation upgrading and transformation,and more and more manual work is replaced by robots.In recent years,the demand and output of bagged materials are very huge,so the stacking and handling of bagged materials become the main problem faced by each enterprise.And now the palletizing robot combining palletizing technology and robot technology has become an indispensable automation equipment for enterprises.Due to the late start of research in the field of palletizing robot in China,there is still a certain gap between China and developed countries,so it is of great engineering significance to accelerate the design and research of palletizing robot.In this paper,a Bag material stacking robot device had been designed using CAD/ CAE technology,combined with virtual product development technology,through theoretical calculation and numerical simulation analysis,some main components are designed and optimized.The work and achievements of this paper mainly include the following points:(1)According to the given technical indicators and work requirements,the design scheme of bagged material palletizing robot is determined,its configuration adopts joint structure,all joints are revolved joints,and the design of main components are completed,as well as the calculation and selection of related driving mechanism.Utilize 3D modeling software NX to build the three-dimensional model of the parts,and adopt bottom up method to assemble,in the end getting the 3D solid model of the whole palletizing robot.(2)Using Adams software to build the virtual prototype model of bagged material palletizing robot,and the kinematic simulation analysis are carried out on the model.The change curves of displacement,velocity,acceleration,force and torque are obtained,and the feasibility and rationality of the stacking robot are verified.The virtual developing work from digital modeling to entity modeling to bagged material palletizing robot was realized.(3)Using ANSYS Workbench software,the statics simulation analysis for key parts of bagged material palletizing robot is carried out,and the modal simulationanalysis of the whole mechanism is realized.The maximum stress and deformation of each key component can be found.It was verified that the components can meet the requirements of strength and stiffness.At the same time,the natural frequency and mode of vibration of the whole mechanism can also be found,which provides a basis for avoiding resonance of the mechanism.(4)Based on ANSYS Workbench software,the optimization and improve the key parts of bagged material palletizing robot are designed.The upper arm and the lower arm are the two most critical parts of the mechanism.The upper arm and the lower arm from the structure size and topological shape were optimized designed.The mass is reduced to the greatest extent under the condition of basically unchanged stiffness and strength while the strength and stiffness are kept basically unchanged,which improve the mobility and stability of the whole mechanism.The research of this topic has successfully applied the technology of virtual product development to the design of bagged material stacking robot.The transformation from entity model to simulation model is realized.In this paper,from the mechanical structure design and selection to physical virtual modeling,and then to simulation and optimization,which presents a complete set of structural design and simulation analysis methods of bag-packed material stacking robot.It can be used for reference for similar palletizing robot design and research in the future.