Design And Research Of Automatic Unloading And Packing Robot System

With the development of robot technology,more and more attention has been paid to the robot technology from the state,society to the enterprise and even individuals.More and more robots are used in the field of industrial production automation.As a typical industrial robot,palletizing robot is widely used in material handling,packaging,loading and unloading.It has become an important tool to replace the manual heavy labor.In order to meet the needs of enterprises in the actual production process,this paper develops a set of automatic loading and unloading robot system for the transshipment and palletizing of the materials in the process of logistics and transportation,and automates the transportation of materials from trucks to containers.In this paper,the main research focus on the design,analysis and optimization of the automatic loading and unloading robot system.The main work is as follows:First of all,according to the requirements of enterprises and the actual working environment,the design scheme of the automatic loading and unloading robot system was completed.After comparing a variety of design options and continuing to demonstrate its feasibility in the early,a robot system including the integration of loading,unloading and transshipment was final designed.Then the details of the design and the 3D model of the machineries of the whole system is established,which verifies the feasibility of the scheme.Secondly,the 3D model of mechanical ontology is established by using Solid Works software.Based on this,the mechanical properties of the structural parts are analyzed by using computer aided technique.The kinematics analysis of SCARA robot,which is the most important part in the unloading system,proves that the working space meets the requirements of the task space.Finite element static analysis is carried out on the key load-bearing parts in the hole robot system.And their stress cloud and deformation cloud images are obtained to verify the reliability of the strength and stiffness of the machineries.The virtual prototype of SCARA robot is established in ADAMS software.A typical part of the actual working process is chose to carry out the dynamic simulation.The simulation data are compared with the parameters of drive components to verify the correct selection of driving components.In order to understand the anti-vibration performance of the unloading and palletizing systems,modal analysis is carried out and the modal shapes are analyzed.At last,the structure is optimized and improved by referring to the results of mechanical analysis.Based on the response surface optimization method,the structure optimization design of SCARA robot was carried out,which greatly reduces the mass and inertia of the robot under the premise of ensuring its strength and rigidity meet the design requirements.And the mechanical properties improved.