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.

MODELING AND PERFORMANCE ANALYSIS FOR THE SERIAL AND PARALLEL PRODUCTION SYSTEM BASED ON GSPN

Differed from the existed applications of generalized stochastic Petri net(GSPN) theory in machine-tool manufacturing system, reliability computation of FMS, testabilityparameters determination and fault analysis, a new idea of applying GSPN to model and performanceanalysis for the serial and parallel production system is proposed. And one typical discrete eventdynamic system (DEDS), turner-unit of palletizing system, is taken as a real case to research. Basedupon the established GSPN models, the working performances of serial and parallel layout arecompared. Furthermore, their differences of working mechanisms including feeding mechanism,coordinating mechanism and monitoring mechanism are discussed. Thus the theoretical basis which ishelpful to appraise layout plan and its reasonableness is provided. Meanwhile, the research resultsshow that parallel layout is more advantageous to greatly improve the operational speed ofproduction system than serial one.

Technology of signal de-noising and singularity elimination based on wavelet transform

Based on wavelet transform theory,a method for signal de-noising and singularity detection and elimination is proposed,which can reduce the noises and express local singularity.Each singularity can also be detected and located through the local modulus maxima of wavelet transform.Simulation experiments are conducted with MATLAB software.The experimental results demonstrate that the method proposed in this paper is effective and feasible.

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。

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.

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.

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.

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.

白车身制造柔性工装应用和尺寸控制方法

介绍某车身车间在引入新车型平台时使用柔性Pallet让车身机运线体能够适配多平台车型生产的案例,并对柔性Pallet的结构和特点进行描述,对柔性Pallet在实际生产运营中出现的问题及解决方案进行了阐述。同时使用VISION对柔性Pallet工装进行测量,构建大数据监控系统,在线测量实时监控柔性Pallet尺寸稳定性,并基于大数据对各种失效模式进行智能诊断。该案例给出了新的车身机运线体随行工装设备方案,具备高精度、高速度、稳定性强、高柔性、智能化等优点,对汽车行业的车身制造及制造智能化应用具有参考作用。

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.

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.