Structural Design And Optimization Of Container Loading Robots

Pallet is palletizing the materials one by one according to certain mode into the crib,in order to realize the material storage,handling,loading and unloading transportation logistics activities.Container Loading robot is a kind of special equipment for palletizing inside container.At present,the development of cargo loading technology is in the semi-automatic stage in China,which is completed by manual and machine.In summer,the temperature inside the container is high and the working environment is harsh.With China's economic development,people's living conditions are getting better and better.Enterprises are facing the dilemma that is unable to recruit workers with high salary.The design and development of container Loading robot mainly solves the problem of automatic loading of goods.Firstly,the design tasks are formulated according to the requirements of cargo loading work.Secondly according to the design task,two functional schemes of Loading robot are designed,and the final scheme is established by comparing the advantages and disadvantages of the two schemes.According to the requirements of the work,the important parameters of the robot mechanism are preliminarily determined.The D-H method is used to establish the kinematics model of the Loading robot.The robot workspace is calculated by Matlab to verify whether the robot workspace meets the work requirements.Then according to the mechanical principle,the size of robot parts is designed,and the model of lifting mechanism,rotary bearing,sliding block rail,active joint motor and reducer is selected.Establish the dynamic model of the robot by the Newton-Euler method.Through the joint simulation of ADAMS,the joint driving force of the robot are obtained.The purpose is to verify whether the selection of robot motor and reducer meets the design requirements.Later,the static analysis of the telescopic arm of the Loading robot is carried out by ANSYS,in order to verify whether the strength and stiffness of the arm meet the working requirements.Then,the mass equation,maximum bending stress equation and maximum deformation displacement equation of the mechanical arm are established,and the response of the thickness and height dimension of the mechanical arm to the equation is analyzed through Matlab.Finally,the parametric modeling of the size of the mechanical arm section is carried out with the help of ANSYS to optimize the design of the mechanical arm section.