摘要
Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively complex.Based on the translating cam principle,a novel palletizing robot is designed.The horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down spindles.To improve palletizing efficiency,the single palletizing mechanical arm is changed into multi-arm.Moreover,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence method.According to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is made.The simulation results show that the novel mechanism and optimization parameters are rational and feasible.This novel palletizing robot has the advantages of cam mechanism,so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling system.At the same time,it can increase palletizing efficiency further by adding mechanical arms.
Palletizing robot technology has been applied more and more extensively in logistics automation field. But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively complex. Based on the translating cam principle, a novel palletizing robot is designed. The horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides, and the vertical movement is controlled by partitioned up-and-down spindles. To improve palletizing efficiency, the single palletizing mechanical arm is changed into multi-arm. Moreover, to improve its kinematic properties, the acceleration operating performance, joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence method. According to the optimization results, the 3D model of the multi-arm palletizing robot is built in Pro/E, and the kinematic simulation is made. The simulation results show that the novel mechanism and optimization parameters are rational and feasible. This novel palletizing robot has the advantages of cam mechanism, so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling system. At the same time, it can increase palletizing efficiency further by adding mechanical arms.
基金
Supported by Natural Science Foundation of Shandong Province,China(No.ZR2010EM007)
Shandong Province Science and Technology Development Plan(No.2010GGX10402)
