Dynamic Analysis and Structural Optimization of a Novel Palletizing Robot

A novel palletizing robot is presented and developed.By using the Newton-Euler method and the principle that the instantaneous inertial force system could be transformed into a static system,the force equilibrium equations of the whole robot and its subsystem were derived and the robot＇s dynamic models were established.After that,an example simulation was performed by using Matlab software and the structural optimization of the robot＇s key parts were discussed and analyzed in ANSYS platform.The results show that the dynamic models are correct and can be helpful for the design,validation and kinetic control based on dynamics of this kind of palletizing robots.

Non standard pallet series designing problem in ammunition supply system

According to the compound packing problem in ammunition supply system in our army, the non-standard pallet series design model is proposed, and the original problem that can be solved as a set cover problem with a nested bin-packing problem, is analyzed, then two heuristic algorithms are applied to solve the problem.

基于视觉技术的柔性Pallet在线自动测量系统研究

白车身焊装车间,对于定位底板的柔性Pallet标定,通常采用测量时间较长的三坐标测量或人工FARO测量,此方法无法满足柔性Pallet的100%尺寸状态监控。提供了一种白车身柔性Pallet自动在线测量的方法,首先在测量工位对于柔性Pallet进行精确定位,然后利用视觉技术进行测量,通过数据采集和坐标拟合计算分析,最终判别切换后的柔性Pallet尺寸是否满足精度要求,从而实现了对在线运行柔性Pallet 100%尺寸状态的实时监控,不仅提高了测量效率和监控质量,同时也为整个项目节省了测量设备和测量人员。

The Structural Design and Analysis of Pallet in ITER Transfer Cask for Remote Handling Operations

Necessary adjustment ranges and accuracies of the pallet for ITER are presented. Detailed structural designs and structural finite element analyses for pallet components are made to determine whether the results satisfy the requirements of the pallet structure to be used in ITER.

Effects of Heat Treatment on Dimension Stability of Larch Pallet Decks

The useful life of wooden pallets is lower because of the defects in lumbers. The quality of lumber can be significantly enhanced by heat treatment. In this paper,the larch pallet decks samples were heat-treated under the conditions of different time and temperatures. The quantity of water uptake has reduced 16. 8% under the condition of 250 ℃ for 150 min. The resistance of water absorption efficiency increases 165. 34% under the condition of 175 ℃ for 90 min. The anti-shrink efficiency increases 72. 08% under the condition of 250 ℃ for 90min. The results showed that the dimension stability of larch panels can be improved by heat treatment. The condition of 250 ℃ for 180 min is the best heat treating condition to improve the dimension stability.

Multi-Feature Fusion-Guided Multiscale Bidirectional Attention Networks for Logistics Pallet Segmentation

In the smart logistics industry,unmanned forklifts that intelligently identify logistics pallets can improve work efficiency in warehousing and transportation and are better than traditional manual forklifts driven by humans.Therefore,they play a critical role in smart warehousing,and semantics segmentation is an effective method to realize the intelligent identification of logistics pallets.However,most current recognition algorithms are ineffective due to the diverse types of pallets,their complex shapes,frequent blockades in production environments,and changing lighting conditions.This paper proposes a novel multi-feature fusion-guided multiscale bidirectional attention(MFMBA)neural network for logistics pallet segmentation.To better predict the foreground category(the pallet)and the background category(the cargo)of a pallet image,our approach extracts three types of features(grayscale,texture,and Hue,Saturation,Value features)and fuses them.The multiscale architecture deals with the problem that the size and shape of the pallet may appear different in the image in the actual,complex environment,which usually makes feature extraction difficult.Our study proposes a multiscale architecture that can extract additional semantic features.Also,since a traditional attention mechanism only assigns attention rights from a single direction,we designed a bidirectional attention mechanism that assigns cross-attention weights to each feature from two directions,horizontally and vertically,significantly improving segmentation.Finally,comparative experimental results show that the precision of the proposed algorithm is 0.53%–8.77%better than that of other methods we compared.

FRACTURE MECHANICS ANALYSIS OF THERMAL STRAINFATIGUE LIFE FOR THE SINTERING MACHINE PALLET

In recent years elastic-plastic fracture mechanics has developed rapidly and is widely used to solve various engineering problems. The application of elastic-plastic fracture mechanics on the pallet of sintering machine is approached in detail for the first time in the present study. The theoretical results were compared with the actual data determined from sintering machine pallet. Results show that good agreement was achieved between the method suggested by the author and the actual data. The basis of determining design of the sintering machine pallet in iron and steel engineering has been provided and it will result in great economic benefits.

Seismic response of selective pallet racks isolated with friction pendulum bearing system

The concept of base isolation for storage racks is still a developing subject and has not been addressed in the recently updated seismic codes for storage racks.The friction pendulum bearing system(FPS)generates a natural period independent of the structure's seismic mass.This property makes FPS an ideal choice for isolating rack structures since merchandise may be placed on the racks in several possible arrangements.The results of a comprehensive parametric study aimed at evaluating the seismic performance of a four-shelf,two-bay selective pallet rack isolated with FPS is presented in this paper.The influence of radius of curvature of the FPS,seismic mass,and mass irregularity on the rack's seismic response is examined.The effect of variation of the coefficient of friction due to axial loading is studied by choosing friction values from two distinct friction characterization studies.The coefficient of friction calculated from these studies shows mild and significant variations,respectively,for the whole range of static axial loads expected on the isolator,and from different pallet mass arrangements considered.The optimum radius of curvature and the appropriate range of friction coefficient,for the defined range of static axial loads,to attain a desirable seismic performance are determined.

Mechanism Design of Palletizing Robot Based on Translating Cam Principle

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.

猕猴桃大帐气调气流组织的数值模拟及优化

为确定合理的猕猴桃大帐气调参数,提高大帐气调贮藏性能,该研究通过模拟猕猴桃在果筐内的自然堆叠状态,建立了单个猕猴桃尺度的大帐气调微环境模型,采用数值模拟方法,分析猕猴桃大帐气调过程中N_(2)纯度、流量、管径、出口高度4个关键参数对降氧时间及气体分布均匀性的影响。基于Box-Behnken原理设计四因素三水平正交仿真试验,利用Design-Expert软件建立响应指标回归模型,对所选取的4个因素进行响应面分析和参数优化。对优化参数组合进行仿真试验,对比优化参数组合条件下响应面回归模型预测值与仿真试验数值模拟值。结果表明:各因素对降氧时间影响由大到小顺序为出气口高度、流量、N_(2)纯度、管径;对不均匀系数影响由大到小顺序为N_(2)纯度、出气口高度、管径、流量。猕猴桃大帐气调的最优气调参数组合为N_(2)纯度96.0%、流量23.0 m^(3)/h、管径50 mm、出气口高度3 126 mm,对应的降氧时间、不均匀系数分别为989 s、6.1%。降氧时间响应面回归模型预测值与仿真值之间的相对误差为3.1%,不均匀系数响应面回归模型预测值与仿真值之间的相对误差为8.4%。研究对于大帐气调装备的研发及性能提升具有重要的理论和实际意义。

码垛机器人的幂次指数趋近律变结构控制

为提高码垛机器人的控制精度,并保证系统在存在建模误差及扰动时的鲁棒性,设计了一种基于幂次指数趋近律的变结构控制算法。建立了二连杆机械臂数学模型,分析了三种趋近律的缺点,比较并提出了幂次指数趋近律。提出了使用求解微分方程的办法分三个阶段来研究算法的鲁棒性。分析了有界综合扰动极限值与控制器参数之间的关系。使用新算法得出了机器人在不含扰动时的仿真结果,解出了变结构控制三个阶段的微分方程,得出了机械臂在存有建模误差及扰动时的仿真结果。幂次指数趋近律变结构控制算法提高了码垛机器人的控制精度,在系统存在各种误差及扰动条件下具有极强鲁棒性并依然可以保证很高的控制精度。

Optimization of Empty Pallets Dispatching Based on Different Transportation Modes

In the pallet pool system, the differentiation of palletized freight volumes in different regions and seasonal transport of certain goods lead to the imbalance of pallets distribution among regions. It is necessary to improve the utilization of pallets through dispatching. The paper analyzes the factors which affect empty pallets dispatching, it includes carbon emission, transportation time and pallet type based on the pallet pool mode of enterprise alliance. On this basis, the optimization model is established with the goal of minimum total dispatching cost. Then, according to the different influences of railway and highway in transportation cost, the dispatching scheme is analyzed and the transportation mode of empty pallets dispatching is determined. Considering the characteristics of model, Cplex is used to solve it. Finally, a case is used to verify the feasibility and superiority of reasonable empty pallets dispatching in different transportation modes, and the transport characteristics of two transportation modes are analyzed. Moreover, the costs of pallets leasing and dispatching are compared.

木托盘RFID标签安装方式有限元分析及试验研究

目的采用仿真和试验手段并用的方法,研究RFID标签在木质平托盘上的适用安装方式及其对使用性能的影响。方法进行Ansys有限元仿真,分析木质平托盘承载和冲击试验中采用螺钉紧固及黏结剂粘贴方式安装的RFID标签所受应力。作为对比,在实验室进行实物试验,测量RFID标签表面应力,并测试标签读写性能。结果在托盘承载和冲击试验中,从RFID标签各构件及标签连接件的受力分析看,2种安装方式下的RFID标签均未出现脱落和物理性损坏。冲击试验后的RFID标签能够通过读写功能测试。有限元仿真与实物试验的应力分析结果相互吻合,验证了结果的正确性。结论RFID标签采用螺钉紧固和黏结剂粘贴的安装方式都能满足使用要求,且螺钉连接的耐用性更好。研究结果为RFID标签在木质平托盘的安装方式选择提供了理论依据。

基于Ansys Workbench的双桁架码垛机械手动态性能分析

为了提高定制化门窗材码垛分类的效率,以双桁架码垛机械手为基础对静态、动态性能进行分析以满足定制化门窗材的码垛效率。针对双桁架码垛机械手在分类码垛过程中存在多种运动状态,在双桁架码垛机械手静态性能满足刚度和强度的基础上对其动态特性进行分析,动态特性分析采用模态和谐波响应方法。通过对双桁架码垛机械手的动态分析,得到了其在两个机械手不同频段时X、Y、Z向的位移量,通过响应曲线明确了频段对位移量的影响规律。两个机械手的响应曲线在规避特殊频率段以提高码垛效率、促进分类码垛的智能化发展具有重要意义。

基于傅里叶级数展开的码垛机器人轨迹规划

为解决码垛机器人工作中因频繁启停而产生的冲击过大与常规多项式曲线规划效率低下等问题,课题组以SP-120系列码垛机器人为研究对象,采用改进D-H参数法建立机器人的D-H坐标系,进行正、逆运动学求解分析。利用基于傅里叶级数展开的轨迹规划方法进行了起始点至目标点的点对点连续轨迹规划,并利用MATLAB软件进行仿真分析。仿真结果表明:基于傅里叶级数展开所得各关节角位移、角速度和角加速度曲线连续、平稳,且工作空间运行轨迹平滑,解决了码垛工况下冲击过大问题;与五次多项式插值算法相比,得到了更大的峰值角速度和一段恒定的峰值角加速度,解决了常规多项式曲线规划效率低下问题。

新型纸板卸垛机的设计及其创新

目前全自动纸箱包装机被广泛地应用于包装行业中,尤其是啤酒饮料制造领域更是加大了对其应用。针对传统包装机纸板卸垛作业仍以人工操作为主,耗时、耗力且技术含量较低的问题,本文设计了一种新型的纸板卸垛机,介绍了纸板卸垛机的整体结构和工作流程,设计了纸板卸垛机的主要机构,采用电缸和气缸组合驱动,实现对纸板的准确提取,采用智能相机视觉检测方式判定纸板是否卸垛完成;对纸板卸垛机控制系统的软硬件进行了设计;智能化的纸板包装箱生产线需求量越来越高,对此进一步对纸板包装箱的生产线工艺进行了分析,以期为纸板卸垛和后续生产线的创新设计提供参考。

基于改进遗传算法的舾装件托盘多载具协同拣选方法

为提升舾装件托盘的拣选效率,建立拣选过程的数学模型,提出一种基于改进遗传算法(Improved Genetic Algorithm, IGA)的舾装件托盘多载具协同拣选方法。针对遗传算法(Genetic Algorithm, GA)流程与实际拣选过程的差异,改进GA的初始化过程和染色体交叉方式,并对变异过程进行更贴近实际生产的修改。针对GA难以得到全局最优解的问题,采用变邻域搜索(Variable Neighborhood Search, VNS)策略降低陷入局部最优解的可能性。采用实例计算验证该算法的有效性,可优化传统舾装件托盘拣选方法。

真空平板玻璃托盘集装包装系统设计与跌落测试验证

目的对真空平板玻璃进行托盘集装包装系统设计,并进行跌落仿真测试,验证包装方案的可靠性。方法提出运输包装设计五步法。第1步产品及流通环境调研,得到相关信息;第2步包装方案设计及建模,选用瓦楞纸板、胶合板、EVA泡沫和捆扎带等包装材料,利用SolidWorks软件进行三维建模,建立各跌落工况下的几何模型;第3步有限元模型建立,对各包材选用合适的材料模型,并利用试验测得相关性能参数,在所建几何模型的基础上进行接触设置、网格划分和载荷设置;第4步有限元模型可靠性验证,对模型进行实际试验和相应仿真测试,两者结果对比分析;第5步多工况下仿真测试,涉及跌落、冲击、振动等。结果展示最具代表性的角、面和棱跌落仿真测试与相应试验结果,最大误差小于10%,验证了有限元模型的可靠性。进一步展示了跌落下各块玻璃的响应加速度,其中峰值加速度远小于真空平板玻璃脆值所允许的加速度,满足防护要求。结论基于上述运输包装设计五步法,所提出的包装方案满足跌落防护要求,也证实了基于该五步法进行包装防护设计的可行性。

塑料制品挤-注-压加工成型工艺的介绍(二)

本文介绍了塑料制品的一种新的加工成型工艺,暂定名为挤-注-压加工成型工艺。

板材立体料库托盘的结构设计与优化

为了降低板材料库的生产和加工成本,对料库托盘进行结构简化和轻量化改进。从型材选型入手,对结构方管的承重性能进行参数敏感度分析,汇总不同方管的质量与性能。通过拓扑优化计算,得到托盘承载的材料最佳分配方案,设计最优的托盘结构,并对该结构进行参数优化,运用稀疏网格模型拟合试验参数建立响应面模型,通过MOGA算法进行优化求解,得到结构参数的最优解。通过搭配不同方管和最优解方案,实现了不同目标的优化效果。