Research And Design Of The End Effector Of The Intelligent Airport Baggage Handling Robot

Due to the rapid development of the civil aviation industry,more and more people choose to travel by plane,bringing the luggage throughput to a new height.At present,some domestic airports have adopted advanced automatic baggage sorting systems,which greatly improved the efficiency of baggage handling.However,for the sorted baggage,most airports need to manually move the baggage from the chute to the flatbed truck,except In addition to the high cost,the efficiency is low,and the luggage is prone to damage.The study of an intelligent robot system that can be used for baggage grabbing and handling is of great significance for promoting the automation process of the airport,reducing the labor intensity of workers,and building a smart airport.The end effector of the robot is a device that directly contacts the baggage.It is the key to ensure the accurate and stable grasping and handling of the baggage.It is very important to study the end effector suitable for the intelligent baggage handling robot.This paper firstly studies and analyzes the functions of the end effector according to the actual needs of the airport luggage intelligent handling robot.Based on the space size of the flat luggage cart and the weight and size specifications of the luggage,two solutions of the end effector of the intelligent luggage handling robot are proposed.The structure design and manufacture of the parallel moving end effector are aimed at the under-actuated end effector.With the aid of the 3D modeling software Pro/Engineer,a 3D model was established,and the number and materials of its finger joints were determined.The configuration of the robotic arm was studied,and the QJRB180-1 robot was selected to realize the intelligent handling of luggage.Secondly,the under-actuated end-effector was researched and designed,the static model of the under-actuated end-effector’s finger part was established,and some parameters of the under-actuated end-effector were calculated using MATLAB software;the main parameters of the under-actuated end effector were analyzed using ABAQUS software.The strength of the parts,namely the long link and the short link,showed that they all met the design requirements;the statics analysis of the suitcase was carried out using ABAQUS software,and the result showed that the suitcase would not be damaged when being grabbed and transported.Lightweight design is carried out on the long and short connecting rods of the end effector fingers,which reduces the weight of the whole structure by 2.25 kg.The kinematics simulation analysis of the under-actuated end effector is carried out using ADAMS software,and the speed change curve and angular velocity are analyzed.The change curve and the change curve of the contact force show that the motion trajectory of the finger,the force between the joints,the speed and the angular velocity,all meet the design requirements under the given driving force conditions.Finally,the whole process of the intelligent luggage handling robot grabbing and carrying luggage was analyzed and researched,combined with the developed parallel-moving end effector and the handling robot,completed the construction of the on-site test platform for intelligent luggage handling,and carried out air compression.Pump pressure test,grabbing height test,and baggage automatic grabbing,handling and stacking test.Through the experiments,the existing problems are found,and solutions are provided through analysis and research,so that the success rate of baggage grabbing and handling is 90%.The above has been further improved.The research results of the thesis lay a certain foundation for the practical application of the intelligent luggage handling system in the airport,and also provide a certain reference for the research and design of the end effector of the handling robot.