Design And Mechanical Characteristics Of High Speed And Heavy Load Stacking Robot

At present,the development trend of customized woodworking furniture manufacturing industry in China is rapid,and its position in the international furniture market is increasing.However,the corresponding production supporting equipment is not perfect,which can not meet the current market development needs.In view of the low degree of automation in China’s woodworking and furniture industry,which mainly depends on manpower in all production links,in order to improve production efficiency and liberate the labor force,the high-speed and heavy-duty stacking robot is studied.In this thesis,the combination of mechanism design,theoretical analysis,simulation and experimental verification is used to systematically carry out the research on the structural design and mechanical characteristics of high-speed and heavy-duty stacking robot,so as to greatly improve the efficiency of wooden door handling and stacking.According to the work flow of wood door processing and manufacturing,wood door stacking requirements,production line layout and field investigation,put forward the technical indexes of stacking robot,analyze various configuration schemes and driving mechanisms,and finally determine the overall design scheme;The structure and size of each part of the stacking robot are designed,and the stability of the designed whole machine structure is analyzed;Based on the maximum operating speed and maximum load capacity index,the calculation and selection of transmission system are carried out.The rigid flexible coupling virtual prototype of the stacking robot is established by Adams,and the dynamic simulation is carried out.Explore the dynamic response under different working conditions and the dynamic force change of each joint under extreme working conditions;The influence of the flexible boom on the end displacement of the robot is analyzed;Based on the dynamic simulation results and D’Alembert principle,the stiffness and strength of key components are checked;Carry out fatigue analysis on the key component boom,and predict its fatigue life through ANSYS code Design Life;The modal analysis and harmonic response analysis of the boom are carried out by using ANSYS Workbench to obtain its dynamic characteristics.Based on the results of finite element static analysis and modal analysis,the structure of boom and jib is improved;The parts of the improved stacking robot are manufactured and processed,and the processing technology is analyzed by taking the boom as an example;Assemble the processed parts and purchased parts,get the prototype of the designed stacking robot,and conduct motion test;The stress-strain experiment scheme is designed,and the arm force test experiment is carried out on the prototype of the stacking robot.This thesis has 103 pictures,23 tables and 96 references.