Selection and Calculation Method for the Joint Core Components of the Balancing Device of a Four-Axis Parallel Palletizing Robot

Abstract

This invention relates to a spring balancing device for a four-axis parallel palletizing robot and a calculation method for its core joint components. Currently, in the design process of palletizing robots, the selection of spring balancing devices and core joint components often results in parameters such as spring stiffness, mounting distance, and pre-compression being either too large or too small, making it impossible to effectively match the parameters of the spring balancing device and select suitable core component models. Therefore, this invention, based on the design requirements of the palletizing robot, sets the optimization objective function, design variables, and constraints, and uses software programming to solve the objective function T using a multi-objective particle swarm optimization algorithm. emin By finding the minimum value, we can obtain a set of optimal spring-type balancing device parameters and select a more suitable core component model, making the palletizing robot more compact, energy-efficient, stable, and fast-paced.

Description

Technical Field

[0001] This invention relates to the field of four-axis parallel palletizing robot technology, and in particular to a method for selecting and calculating the core components of the joints of a four-axis parallel palletizing robot's spring balancing device. Background Technology

[0002] Palletizing robots are a type of vertical multi-joint industrial robot that can replace manual palletizing, greatly improving work efficiency. Moreover, robot palletizing can operate for extended periods, reducing labor costs. They are mainly used in grain, feed, food, fertilizer, chemical, cement, and building material production enterprises for palletizing and handling packaging bags and block-shaped items. When used in conjunction with other peripheral equipment, the automatic operation of the palletizing machine includes steps such as automatic box feeding, box turning, sorting, stacking, stack moving, stack lifting, palletizing, stack unloading, and stack unloading.

[0003] With the continuous development of industry, palletizing robots are playing an increasingly important role in industrial production. At the same time, increasingly higher demands are being placed on palletizing robots for low energy consumption, compact structure, high stability, and fast cycle time. Therefore, palletizing robots often incorporate spring-type balancing devices on their two axes to balance the eccentric gravitational torque, effectively reducing the load on the core components (RV reducer, servo motor) of the two axes. This allows for the selection of smaller core components (RV reducer, servo motor), thereby reducing energy consumption and achieving a more compact structure.

[0004] Currently, in the design process of palletizing robots, the selection of balancing device parameters and core joint components is often based on experience calculations. This often results in the selected spring stiffness, mounting distance, and pre-compression parameters being too large or too small, making it impossible to effectively match the balancing device parameters and select suitable core component (RV reducer, servo motor) models.

[0005] This invention discloses a method for selecting and calculating the core components of the joints in the spring balancing device of a four-axis parallel palletizing robot. Based on the design requirements of the palletizing robot, the method sets the optimization objective function, design variables, and constraints. It employs MATLAB software for programming and utilizes a multi-objective particle swarm optimization algorithm to solve for the objective function. By finding the minimum value, we can obtain a set of optimal spring-type balancing device parameters and select more suitable core component (RV reducer, servo motor) models, making the palletizing robot more compact, energy-efficient, stable, and fast-paced. Summary of the Invention

[0006] The purpose of this invention is to provide a method for selecting and calculating the core components of the joints in the balancing device of a four-axis parallel palletizing robot. Based on the design requirements of the palletizing robot, the optimization objective function, design variables, and constraints are set. The method is programmed using MATLAB software and employs a multi-objective particle swarm optimization algorithm to solve for the objective function. By finding the minimum value, we can obtain a set of optimal spring-type balancing device parameters and select more suitable core component (RV reducer, servo motor) models, making the palletizing robot more compact, energy-efficient, stable, and fast-paced.

[0007] The selection and calculation method for the core components of the spring balancing device joint of a four-axis parallel palletizing robot is as follows:

[0008] Step 1: Simplify the structure of the palletizing robot into a mechanical model, where the links... For the boom, pole Forearm, bar Forearm pull bar, bar For the boom tie rod, piece It is a triangular pull plate, piece For the wrist, one end of the spring balancing device is fixed to the base. One end is fixed to the upper arm. At this point, the initial position of the boom is set to... The axes coincide, and the range of motion of the upper arm is... Spring balancing device and The included angle of the axis is , Length is , Length is , Length is , Length is , Length is The end load mass is The weight of the front end of the spring balancing device joint is .

[0009] Step 2: Let the pre-compression of the spring balancing device be... The spring stiffness is Then the spring preload of the spring balancing device is When the boom rotates At an angle, the spring balancing device and The included angle of the axis is , Length is Then the spring deformation is The tension generated by the spring balancing device is Spring balancing device for The lever arm of the point is The balancing torque generated by the spring balancing device is:

[0010] The eccentric torque generated by the self-weight of the front end of the spring balancing device joint and the load at the end:

[0011] .

[0012] Step 3: Determine the design parameters of the palletizing robot based on requirements. The acceleration / deceleration time and motor speed are as follows:

[0013]

[0014] in, Let ω be the angular velocity, and ω be the moment of inertia of the body at the front end of the spring balancing device joint. End load rotational inertia .

[0015] Step 4: Based on the parameters from Step 3, calculate the torque required for the start-stop phase of the spring balancing device joint. angular acceleration , Calculate the mechanical efficiency of the core components (RV reducer, servo motor) of the spring balancing device joint during the start-stop phase; calculate the torque of the spring balancing device joint during the uniform speed operation phase. , The mechanical efficiency of the core components (RV reducer, servo motor) of the spring balancing device during the uniform speed operation phase.

[0016] Step 5: Based on the parameters from Steps 3 and 4, calculate the average load torque applied to the output end of the RV reducer. According to parameters , , , Select candidate models for the core components of the spring balancing device joint (RV reducer, servo motor); the selected servo motor parameters include rated torque. Rated speed Maximum torque Maximum speed The selected RV reducer parameters include the reduction ratio. Rated torque Start-stop allowable peak torque Instantaneous maximum permissible torque .

[0017] Step 6: According to , , , , , , Parameters for calculating the unbalanced torque during start-stop phases. Let the multi-objective optimization function be... The design variables include the pre-compression amount of the spring balancing device. , Length is , Length is and spring balancing device and The included angle of the axis is The constraints include the pre-compression range of the spring balancing device. , Length range , Long range and spring balancing device and Axis angle range The objective function was solved using MATLAB software and a multi-objective particle swarm optimization algorithm. The minimum value corresponds to a set of optimal parameters: , , as well as .

[0018] Step 7: The selected RV reducer and servo motor models and parameters meet the following conditions: the allowable peak torque for RV reducer start / stop. Maximum torque at the output of the servo motor Maximum value of unbalanced torque during start-stop phase RV reducer rated torque Rated torque at the output of the servo motor The maximum value of the unbalanced torque during the uniform velocity phase .

[0019] Step 8: Output the design parameters of the spring balancing device , , as well as Determine the models of the core components (RV reducer, servo motor).

[0020] The beneficial effects of this invention are as follows: First, the structure of the palletizing robot is simplified into a mechanical model, and the balancing torque generated by the spring balancing device is calculated. The eccentric torque generated by the self-weight of the front end of the spring balancing device joint and the load at the end. Secondly, based on the design parameters of the palletizing robot, the torque required for the start-stop phase of the spring balancing device joint is calculated. Calculate the average load torque applied to the output end of the RV reducer. Select candidate models for the core components of the spring balancing device joint (RV reducer, servo motor); then, based on... , , , , , , Parameters for calculating the unbalanced torque during start-stop phases. The objective function was solved using MATLAB software and a multi-objective particle swarm optimization algorithm. The minimum value corresponds to a set of optimal spring balancing device design parameters; finally, the spring balancing device design parameters are output. , , as well as This invention provides a method for selecting and calculating the core components of a four-axis parallel palletizing robot's spring balancing device. By optimizing the algorithm to obtain a set of optimal spring balancing device parameters, more suitable core component (RV reducer, servo motor) models are selected, resulting in a more compact structure, lower energy consumption, better stability, and faster working cycle of the palletizing robot. Attached Figure Description

[0021] Appendix Figure 1 This is a schematic diagram of the palletizing robot of the present invention.

[0022] Appendix Figure 2 This is a simplified structural mechanics model of the palletizing robot of the present invention.

[0023] Appendix Figure 3 The start / stop torque of the present invention Balance torque and unbalanced torque As the upper arm turns A diagram illustrating the changes;

[0024] Appendix Figure 4 This is the multi-objective optimization program code for the palletizing robot of the present invention. Detailed Implementation

[0025] The accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are for illustrative purposes only and should not be construed as limiting this patent.

[0026] A method for selecting and calculating the spring balancing device and core joint components of a four-axis parallel palletizing robot is achieved through the following steps:

[0027] Step 1: Simplify the structure of the palletizing robot into a mechanical model, where the links... For the boom, pole Forearm, bar Forearm pull bar, bar For the boom tie rod, piece It is a triangular pull plate, piece For the wrist, one end of the spring balancing device is fixed to the base. One end is fixed to the upper arm. At this point, the initial position of the boom is set to... The axes coincide, and the range of motion of the upper arm is... Spring balancing device and The included angle of the axis is , Length is , Length is , Length is , Length is , Length is The end load mass is The weight of the front end of the spring balancing device joint is .

[0028] Step 2: Let the pre-compression of the spring balancing device be... The spring stiffness is Then the spring preload of the spring balancing device is When the boom rotates At an angle, the spring balancing device and The included angle of the axis is , Length is Then the spring deformation is The tension generated by the spring balancing device is Spring balancing device for The lever arm of the point is The balancing torque generated by the spring balancing device is:

[0029] The eccentric torque generated by the self-weight of the front end of the spring balancing device joint and the load at the end:

[0030] .

[0031] Step 3: Determine the design parameters of the palletizing robot based on requirements. The acceleration / deceleration time and motor speed are as follows:

[0032]

[0033] in, Let ω be the angular velocity, and ω be the moment of inertia of the body at the front end of the spring balancing device joint. End load rotational inertia .

[0034] Step 4: Based on the parameters from Step 3, calculate the torque required for the start-stop phase of the spring balancing device joint. angular acceleration , Calculate the mechanical efficiency of the core components (RV reducer, servo motor) of the spring balancing device joint during the start-stop phase; calculate the torque of the spring balancing device joint during the uniform speed operation phase. , The mechanical efficiency of the core components (RV reducer, servo motor) of the spring balancing device during the uniform speed operation phase.

[0035] Step 5: Based on the parameters from Steps 3 and 4, calculate the average load torque applied to the output end of the RV reducer. According to parameters , , , Select candidate models for the core components of the spring balancing device joint (RV reducer, servo motor); the selected servo motor parameters include rated torque. Rated speed Maximum torque Maximum speed The selected RV reducer parameters include the reduction ratio. Rated torque Start-stop allowable peak torque Instantaneous maximum permissible torque .

[0036] Step 6: According to , , , , , , Parameters for calculating the unbalanced torque during start-stop phases. Let the multi-objective optimization function be... The design variables include the pre-compression amount of the spring balancing device. , Length is , Length is and spring balancing device and The included angle of the axis is The constraints include the pre-compression range of the spring balancing device. , Length range , Long range and spring balancing device and Axis angle range The objective function was solved using MATLAB software and a multi-objective particle swarm optimization algorithm. The minimum value corresponds to a set of optimal parameters: , , as well as .

[0037] Step 7: The selected RV reducer and servo motor models and parameters meet the following conditions: the allowable peak torque for RV reducer start / stop. Maximum torque at the output of the servo motor Maximum value of unbalanced torque during start-stop phase RV reducer rated torque Rated torque at the output of the servo motor The maximum value of the unbalanced torque during the uniform velocity phase .

[0038] Step 8: Output the design parameters of the spring balancing device , , as well as Determine the models of the core components (RV reducer, servo motor).

[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A method for selecting and calculating the core components of the joints of a four-axis parallel palletizing robot's balancing device, characterized in that... The steps are as follows: Step 1: Simplify the structure of the palletizing robot into a mechanical model, where the links... For the boom, pole Forearm, bar Forearm pull bar, bar For the boom tie rod, piece It is a triangular pull plate, piece For the wrist, one end of the spring balancing device is fixed to the base. One end is fixed to the upper arm. At this point, the initial position of the boom is set to... The axes coincide, and the range of motion of the upper arm is... Spring balancing device and The included angle of the axis is , Length is , Length is , Length is , Length is , Length is The end load mass is The weight of the front end of the spring balancing device joint is ; Step 2: Let the pre-compression of the spring balancing device be... The spring stiffness is Then the spring preload of the spring balancing device is When the boom rotates At an angle, the spring balancing device and The included angle of the axis is , Length is Then the spring deformation is The tension generated by the spring balancing device is Spring balancing device for The lever arm of the point is The balancing torque generated by the spring balancing device is: The eccentric torque generated by the self-weight of the front end of the spring balancing device joint and the load at the end: ； Step 3: Determine the design parameters of the palletizing robot based on requirements. The acceleration / deceleration time and motor speed are as follows: ； in, Let ω be the angular velocity, and ω be the moment of inertia of the body at the front end of the spring balancing device joint. End load rotational inertia ; Step 4: Based on the parameters from Step 3, calculate the torque required for the start-stop phase of the spring balancing device joint. angular acceleration , Calculate the mechanical efficiency of the servo motor of the RV reducer in the spring balancing device during the start-stop phase; calculate the torque of the joint in the spring balancing device during uniform speed operation. , The mechanical efficiency of the RV reducer and servo motor during the uniform speed operation phase of the spring balancing device; Step 5: Based on the parameters from Steps 3 and 4, calculate the average load torque applied to the output end of the RV reducer. According to parameters , , , Select candidate models for the RV reducer and servo motor of the spring balancing device; the parameters of the selected servo motor include rated torque. Rated speed Maximum torque Maximum speed The selected RV reducer parameters include the reduction ratio. Rated torque Start-stop allowable peak torque Instantaneous maximum permissible torque ; Step 6: According to , , , , , , Parameters for calculating the unbalanced torque during start-stop phases. Let the multi-objective optimization function be... The design variables include the pre-compression amount of the spring balancing device. , Length is , Length is and spring balancing device and The included angle of the axis is The constraints include the pre-compression range of the spring balancing device. , Length range , Long range and spring balancing device and Axis angle range The objective function was solved using MATLAB software and a multi-objective particle swarm optimization algorithm. The minimum value corresponds to a set of optimal parameters: , , as well as ; Step 7: The selected RV reducer and servo motor models and parameters meet the following conditions: the allowable peak torque for RV reducer start / stop. Maximum torque at the output of the servo motor Maximum value of unbalanced torque during start-stop phase RV reducer rated torque Rated torque at the output of the servo motor The maximum value of the unbalanced torque during the uniform velocity phase ; Step 8: Output the design parameters of the spring balancing device , , as well as Determine the models of the RV reducer and servo motor.

Images