MD200码垛机器人机构分析与自动化生产线应用研究

发布时间：2018-05-01 08:34

本文选题：码垛机器人 + 运动学分析　；参考：《武汉科技大学》2015年硕士论文

【摘要】：随着我国包装物流产业的迅速发展，日益增长的市场需求与生产效率之间的矛盾，对搬运码垛设备的生产能力提出了更高的要求，但目前国外码垛机器人公司在我国的码垛机器人市场具有垄断性优势，所以自主研发低成本、高性能的码垛机器人产品已成为我国工业机器人领域迫切需要解决的核心技术问题。以MD200码垛机器人为研究对象，分别从运动学、疲劳寿命以及搬运码垛自动化生产线应用三个方面进行了研究。首先，确定MD200码垛机器人技术参数及构型，提出整体结构设计方案，并建立D-H运动学数学模型，对机器人行程放大系数以及运动学正逆解进行理论分析，并通过ADAMS和MATLAB仿真分析加以验证。其次，以线性疲劳累积损伤理论为理论基础，联合Workbench有限元分析和Designlife疲劳分析软件，对MD200码垛机器人在工作空间内的四个极限位姿进行静强度分析，并针对等效应力最大的极限位姿分析疲劳强度和疲劳寿命。最后，结合包装物流生产线的应用现状，论证发展完善搬运码垛自动化生产线的必要性。基于某米业的物流自动化生产需求，结合MD200码垛机器人及相关配套设备，设计具体的码垛机器人自动化生产线应用布局方案，并对其进行了合理的优化设计，以降低生产成本，提高生产效率。
[Abstract]:With the rapid development of packaging logistics industry in China, the contradiction between increasing market demand and production efficiency puts forward higher requirements for the production capacity of palletizing equipment. But at present, foreign palletizing robot companies have monopoly advantages in our country's palletizing robot market, so independent research and development has low cost. The high performance palletizing robot products have become the core technical problem which needs to be solved urgently in the field of industrial robot in our country. Taking the MD200 palletizing robot as the research object, three aspects of kinematics, fatigue life and the application of the automatic production line for palletizing are studied. First of all, the technical parameters and configuration of MD200 palletizing robot are determined, the overall structure design scheme is proposed, and the D-H kinematics mathematical model is established, and the travel magnification factor and kinematics inverse solution of the robot are analyzed theoretically. It is verified by ADAMS and MATLAB simulation analysis. Secondly, based on the theory of linear fatigue cumulative damage, combined with Workbench finite element analysis and Designlife fatigue analysis software, the static strength analysis of MD200 palletizing robot in the workspace is carried out. The fatigue strength and fatigue life of the maximum equivalent stress are analyzed. Finally, combined with the application of packaging logistics production line, the necessity of developing and perfecting the automatic handling and palletizing production line is demonstrated. Based on the logistics automation production requirement of a certain rice industry, combined with MD200 palletizing robot and related supporting equipment, the application layout scheme of the automatic production line of palletizing robot is designed, and the reasonable optimization design is carried out to reduce the production cost. Improve production efficiency.
【学位授予单位】：武汉科技大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

【参考文献】