| With the continuous increase of the production of industrial robots in China,many traditional and manual operations are gradually replaced by industrial robots.In the production of battery there are often a lot of high repeatability stacking work,manual stacking battery in the efficiency has been unable to meet the needs of modern production,which provides an opportunity for the development of robot stacking technology.Because the appearance size of lead-acid battery produced by different manufacturers is not the same.At the present stage,the palletizing equipment on the market has a single function,which can only achieve the single function of the palletizing process.There is no universal palletizing equipment sales suitable for a variety of specifications of batteriesIn this paper,the palletizing robot system as the main body of research,according to the specific battery palletizing environment,complete the overall design of battery palletizing robot.A double-cavity vacuum sucker was designed as the end-effector of the robot system,and hydrodynamic and static analysis were carried out on it.The final experiment shows that the double cavity vacuum chuck can efficiently and smoothly complete the storage battery stacking work.The main contents are as follows:(1)The process and function of each part of the battery palletizing system are determined,and the selection of the palletizing robot is carried out according to the working process and the palletizing speed of the system.In order to meet the stacking process of different types and specifications of batteries,the roller conveying system,robot control system,tray,pad and other system components are analyzed and designed,and the preliminary structural design of the end-effector is also carried out.(2)Based on ANSYS and FLUENT software,the effects of four factors,including diameter of fine hole,depth of fine hole,diameter of backing plate and vacuum degree,on the adsorption performance of single cavity vacuum sucker were analyzed.Variance analysis showed that the diameter of the fine hole and the vacuum degree had significant influence on the experimental results(P<0.01),while the diameter of the pad and the depth of the fine hole had no significant influence on the experimental results(P >0.05).The performance factors of the maximum airflow velocity at the inlet from high to low were vacuum degree,the diameter of the fine hole,the depth of the fine hole and the diameter of the pad.Through comprehensive numerical simulation and practical consideration,the final vacuum chuck diameter of fine hole is0.8mm,the diameter of cushion plate is 15 mm,the depth of fine hole is 1.5mm and the vacuum degree is 72 KPa.Two kinds of double-cavity vacuum suckers with different distributions were analyzed to adsorb the maximum adsorption force under different specifications and different quantities of battery theory,and the relationship between the leakage of double-cavity vacuum suckers and the maximum adsorption force was made clear.Finally,it was determined that the double-cavity vacuum suckers with a size and volume ratio of 2 to 1 could meet the adsorption requirements of vacuum suckers.(3)Based on Workbench,the overall structure of the double-chamber vacuum chuck is analyzed statically.According to the different number of batteries and the different positions of adsorption,the left chamber,the right chamber,and the double-chamber vacuum chuck were applied with different distributed loads for the static analysis,observation and analysis of the double-chamber vacuum chuck X,Y,Z axis component deformation and effect diagram.The results show that the double-cavity vacuum chuck structure meets the requirements of static performance,verifies the feasibility of the double-cavity vacuum chuck,so as to meet the working requirements.(4)According to the real objects of the double-chamber vacuum suckers and the experimental verification,mainly for the adsorption of different specifications and different numbers of batteries,it is proved that the double-chamber vacuum suckers designed in this paper can meet the requirements of stacking required in this paper. |
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