Design And Leveling Of Tilting Robot Working Platform

With the rapid development in building decoration industry,tile fixing has became the main method during decoration.In traditional way,tile fixing is always completed by human,but since the workload and the intension of this work are too heavy to catch the demand of the industry,it is imperative to develop a new automatic tile fixing equipment to replace the conventional way.By using the automatic tile fixing robot,tile fixing work can be finished with high efficiency,high quality and high stability.Working platform of the tiling robot is the basic part of the robot,the platform needs to move position frequently and since there are many control units situate here,then working platform is of great importance to ensure the property of the tiling robot.Since the position coordinate of robot end effector is based on the coordinate of working platform,later by spatial switching to obtain its final coordinate.Therefore the coordinate of working platform has a big influence on work accuracy of the robot end effector,then in order to ensure the leveling work of the end effector goes successfully,it is necessary to keep the working platform horizontally.Because the work environment of tiling robot is always uneven,then when robot comes to a new position,it is needed to leveling the working platform to ensure the leveling work of end effector,and to ensure the work quality of tiling robot,therefore it is necessary to investigate the automated leveling work of the tiling robot.This paper researches the design,modeling of the working platform and the other related structures,investigates the leveling work of working platform,the main research contents are as follow:(1)Design and model the main structures of robot working platform,moving structure,supporting structure and the other structures by Solidworks,and arrange these structures and reasonablely in the working space.Analyze the force condition of the robot,and study the rollover prevention ability of the working platform.Do finite element analysis of the working platform’s stress strain condition by ANSYS.(2)Investigate the leveling work of the robot detailedly,design the leveling algorithm and select the leveling scheme,design certain parts of the control module during the leveling work.(3)Design the schematic diagram and the related loops of hydraulic system based on the method and scheme of leveling.Design,model and finally select the scheme of the hydraulic component,and design the flow chart of the work detailedly.(4)Build the model of hydraulic system by MATLAB/Simulink and simulate the stability of hydraulic system.(5)Simulate the dynamic performance and the whole leveling process of the hydraulic system by AMESim.The validity of the leveling method and leveling scheme is proved.Based on the above analysis,conclusion can be made that the proposed design of the working platform and the related components are reasonable and can meet the initial design requirements,the designed hydraulic system can make the machine leg move quickly and smoothly,and by using the leveling algorithm and scheme,the hydraulic system can adjust the working platform to a horizontal condition.