码垛系统及其夹具设计

Palletizing System and Fixture Design

设计新型的全自动码垛系统,针对袋装货物的末端执行器进行重新设计,以规避传统袋装装车系统的硬件过于复杂的问题,以及传统袋装货物夹具的弊端,如使用机械夹爪式夹具时易损坏货物,而真空吸盘式的夹具因袋装货物的沉重与包装袋的种类繁多而适用范围较小。该装车系统采用了智能AGV叉车进行运输货物,大力臂码垛机器人搭载可移动式机器人底座进行装车,并通过多种传感器实现其高度自动化,同时对整体系统的控制硬件以及工艺流程进行设计。夹具上采用液压油缸推板的形式进行码垛货物,不仅可以多向智能码垛,同时可规避传统夹具的弊端。最后通过软件对夹具的关键受力部分进行受力分析,得到不同工作状态的受力情况,验证了其可行性。

A new automatic palletizing system was design,and the end-effector for bagged goods was redesigned,in order to avoid the problem that the hardware of the traditional bag loading system is too complex,and the disadvantages of traditional bagged goods fixture.If the use of mechanical claw fixture is easy to damage the goods,meanwhile because of the heavy bag of goods and a wide variety of bags,the scope of vacuum sucker type fixture application is small.The loading system designed adopted intelligent AGV forklift truck to transport goods,the high-arm palletizing robot was loaded with mobile robot base,and through a variety of sensors to achieve a high degree of automation,the control hardware and process flow of the whole system were designed.On the fixture,the goods were palletized in the form of hydrocylinder push plate.Not only could multi-direction intelligent palletizing,but also could avoid the disadvantages of traditional fixture.Finally,stress analysis was carried out on the key stress part of the fixture by software.The force conditions of different working states were obtained,and its feasibility was verified.