| In the 21st century,the market economy competition is becoming more and more fierce,enterprises continue to be pursued by production enterprises,achieved the purpose of rapid occupation of the market,in the processing,transportation,handling,and loading and unloading links to improve efficiency and reduce costs have reached the limit,which the material palletizing truck has become the improvement point of concern to enterprises.The material stacking truck has been relying on manual operation,not only low efficiency,labor intensity,the leakage of dust caused great harm to the health of workers,the relevant enterprises urgently seek to improve automation technology.In this subject,the wheat bran bag semi-automatic loading equipment of Company A is taken as the research object to solve the problems of high labor intensity,low efficiency,environmental pollution,and personal health of loading and palletizing loading.Based on extensive reference to the literature of loading robot system at home and abroad,this paper develops a set of wheat bran bag automatic palletizing loading robot system from the three aspects of overall structure design,and hand stability and automatic operation,which has important reference value and practical significance for loading automation equipment of other bags or other materials.The specific research contents are as follows :(1)According to the actual working conditions,establish the robot mechanical structure and control design scheme.According to the modular design theory,the relationship between each functional module of the robot is clarified,and the similarity and universality of each component are determined by the fuzzy comprehensive evaluation method.The research and development efficiency is improved,and the key components are selected and calculated.Aiming at the problem of the roof risk of the scraping workshop caused by the continuous retraction of the mechanical arm after stacking the material to the height when loading,a telescopic manipulator is proposed and the feasibility of the design is analyzed.Aiming at the problem of scraping materials when stacking in a narrow environment,a new type of palletizing manipulator claw is proposed.The whale optimization algorithm is used to optimize the structural parameters,and a small prototype is designed and manufactured according to a certain proportion.The experimental results show that the prototype runs well and meets the design requirements.Finally,the static and dynamic finite element analysis of key components such as claws and helical gears are carried out,and the strength and vibration indexes are verified to meet the allowable requirements.(2)To verify the positioning accuracy and stability of the manipulator claw system,the mathematical model is established with the transmission system as the target,and the fuzzy algorithm is used as the controller.The PID parameter optimization based on the genetic algorithm and the fuzzy control algorithm is combined to build the simulation model in MATLAB / simulink.Through the simulation curve,it is evaluated that the rapid response ability of the system is fast,the overshoot is smaller,and the system reaches a stable state quickly,which is significantly better than the traditional PID algorithm and the fuzzy PID algorithm.Then,through the experiment and evaluation of the manipulator claw prototype,the measured positioning accuracy is numerically controlled in the domain [-3,3].The system works smoothly,has high positioning accuracy and fast response,which further verifies the effectiveness and feasibility of the transmission system.(3)Finally,combined with the actual working conditions and processes of the loading operation,the selection of electronic control devices is carried out,and the automatic operation and management of loading and system monitoring are achieved,which solves the problems of low efficiency of enterprise loading,and high labor intensity and high cost. |
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