Research on the application of robot technology in

Research on the application of robot technology in product packaging

robot technology has become a key research technology in advanced countries. Research hotspot at home and abroad. Many key technologies have made breakthroughs, enabling people to use robots to replace people to work in harsh environments. It has also been applied in the field of packaging engineering

since the birth of the world's first robot in the United States in 1954, there have been many ": developed countries have invested a lot of human and material resources in the research and development of robot technology. Japan has achieved the most. The application of robot technology has greatly promoted the automation of industry. There are more than 800000 industrial robots in use all over the world. At the same time, a variety of intelligent robots have been launched, such as handling robots, product packaging robots, metal welding robots, painting robots, agricultural product sorting robots and so on

1 introduction to robot technology

"Therefore, the research scope of such centers will include 3D but in the process of fatigue machine verification, printing robot technology mainly includes five major contents: robot structure, robot motion, robot mechanics, robot control, robot intelligence, etc. but different scholars and materials also have different classification methods, but any robot technology is inseparable from these five major contents.

1.1 robot structure

robot structure manipulator structure It is connected with the fuselage (or base). But there are also many treatises on machine 4 Compact space (mm): 600 robot structure is divided into robot system structure and robot operator structure

(1) mechanical structure

manipulator structure is the "device for operation" used by robots. Generally, the structure with multiple connecting rods connected by joints is fixed on the fuselage I and II. Its front end is equipped with an end effector suitable for operation to complete the grasping action, which is similar to the hand of human grasping objects. Sometimes sensors are installed. Modern robot technology makes the structure of manipulator more and more intelligent

(2) body (or base) structure

the body (or base) structure is mainly the main part supporting the manipulator and various sensors. It has the requirements of balance and flexibility, especially for mobile or walking robots, it must maintain balance, stability and flexibility, otherwise it is difficult to achieve the predetermined work requirements when the manipulator executes the grab

1.2 robot motion

robot motion refers to the overall and local motion of the robot. It all needs driving force to realize. The core of robot motion is the mode and type of motion, which focus on the joints between various components. In the design and processing of robot motion, in addition to the general movement, it is more to solve the problem of joint variables. That is, the equivalent parameter length L and angle 9 are treated as variables of numbers. For example, joints include rotary joints and prismatic joints (when moving in a straight line), and the variables of all joint positions are called joint variables

the mathematical methods used to describe y and 9 mainly include attitude transformation matrix, homogeneous transformation matrix and Jacobian matrix

1.3 robot mechanics

robot mechanics is to study the relationship between the force in the executive component and the joint driving force. That is, the relationship between dynamics and statics. At the same time, kinematics is also involved

when the robot works, the joint driving force, joint position 0, joint speed and joint acceleration and other parameters will change, which will be handled by dynamics research. Dynamics research is also related to the size, mass, moment of inertia of each component of the robot, and the distance between the centroid of the component and the joint axis

statics is the mechanics that deals with robots in a static state. Statics, dynamics and kinematics all have the relationship between parameter variables, as shown in Figure 1. The relationship represented by dotted lines in the figure is represented by the combination of solid lines. It can also be treated as a dynamic problem

(to be continued)