ĈҤ,+Ӑ&48Ӕ&*,$73+CM
75ѬӠ1*ĈҤ,+Ӑ&%È&+.+2$
----------------------
1*8<ӈ19Ă175Ҳ1*
7+,ӂ7.ӂ7$<*Ҳ3 &Ӫ$52%27 *5,33(5 &Ï&+Ӭ&
1Ă1*9Ӯ$*Ҳ39¬+Ò73+Ө&9Ө&+2&Ð1*7È&;ӂ3
'Ӥ%$2.+Ð1*ĈӖ1*1+Ҩ775Ç13$//(7
DESIGN OF A DUAL FUNCTION ROBOT GRIPPER FOR
DEPALLETIZING AND PALLETIZING OF NON UNIFORM
BAGS ON PALLET
Chuyên ngành: .ӻ7KXұW&ѫĈLӋQ7ӱ
0mVӕ 8520114
/8Ұ19Ă17+Ҥ&6Ƭ
TP. HӖ&HÍ MINH, tháng 01 QăP2
C{QJWUuQKÿѭӧFKRjQWKjQKWҥL: TUѭӡQJĈҥLKӑFBách Khoa –ĈHQG -HCM
&iQEӝKѭӟQJ Gүn kKRDKӑc: PGS. TS. 1JX\ӉQ4XӕF&Kt
&iQEӝFKҩPQKұQ[pW 3*6761JX\ӉQ7KDQK3KѭѫQJ
&iQEӝFKҩPQKұQ[pW 3*676/r0ӻ+j
/XұQYăQWKҥFVƭÿѭӧFEҧRYӋWҥL7UѭӡQJĈҥLKӑF%iFK.KRDĈ+4*Tp. HCM
ngày 15 tháng 01 QăP2022.
7KjQKSKҫQ+ӝLÿӗQJÿiQh gLiOXұQYăQWKҥFVƭJӗP:
1. PGS. TS. NguyӉQ'X\$QK
– &KӫWӏFK
2. 76ĈRjQ7KӃ7KҧR
– 7KѭNê
3. 3*6761JX\ӉQ7KDQK3KѭѫQJ
– 3KҧQELӋQ
4. 3*676/r0ӻ+j
– 3KҧQELӋQ
5. TS. Phùng Trí Công
– Ӫ\YLrQ
;iFQKұQFӫDChӫWӏFK+ӝLÿӗQJÿiQKJLi/9và 7UѭӣQJ.KRD TXҧQOêFhuyên
QJjQKVDXNKLOXұQYăQWKҥFVƭÿѭӧFVӱDFKӳD QӃXFy
&+Ӫ7ӎ&++Ӝ,ĈӖ1*
3*6761*8<ӈ1'8<$1+
75ѬӢ1*.+2$ &Ѫ.+Ë
ĈҤ,+Ӑ&48Ӕ&*,$73HCM
&Ӝ1*+Ñ$;+Ӝ,&+Ӫ1*+Ƭ$ 9,ӊ71$0
75ѬӠ1*ĈҤ,+Ӑ&%È&+.+2$
ĈӝFOұS- 7ӵGR- HҥQKSK~F
1+,ӊ09Ө/8Ұ19Ă17+Ҥ&6Ƭ
+ӑWrQKӑFYLrQ 1*8<ӈ19Ă175Ҳ1*
MSHV: 1870243
1Jj\WKiQJQăPVLQK 16/01/1984
1ѫLVLQh: Kiên Giang
&KX\rQQJjQK .ӻWKXұWFѫÿLӋQWӱ
0mVӕ
I. 7Ç1 Ĉӄ 7¬,: 7+,ӂ7 .ӂ 7$< *Ҳ3 &Ӫ$ 52%27 (GRIPPER) CÓ
&+Ӭ&1Ă1*9Ӯ$*Ҳ39¬+Ò73+Ө&9Ө&+2&Ð1*7È&;ӂ3'Ӥ
%$2.+Ð1*ĈӖ1*1+Ҩ775Ç13$//(7
II. 1+,ӊ09Ө9¬1Ӝ,'81*
1. 1JKLrQFӭXWKLӃWNӃWD\JҳS *ULSSHU WKӵFKLӋQÿѭӧF cҧ FKӭFQăQJ:
- XӃSEDR8UHDNJWӯEăQJWҧL[XӕQJ3Dllet SKөFYөFKRF{QJWiFOѭu kho.
- %ӕFGӥEDRWӯ3DOOHWOrQEăQJWҧLÿӇSKөFYөF{QJWiF [XҩWKjQJ
2. 7UrQFѫVӣWtQKWRiQOêWKX\ӃWOӵDFKӑQUDFKӫQJORҥLWKLӃWEӏSKKӧSÿDQJFy
WUrQWKӏWUѭӡQJ.
3. /ұSEҧQYӁD ÿҫX*ULSSHUWUrQSKҫQPӅPmô phӓQJ'
4. 'ӵQJ WRjQ Eӝ P{ KuQK KӋ WKӕQJ 5REot + Gripper và các KӋ WKӕQJ EăQJ WҧL
SDOOHWWKӵFKLӋQFKҥ\P{SKӓQJӣFKӃÿӝ[ӃSYjGӥEDRYӟLFѫFҩX*ULSSHU
WKLӃWNӃ
III.
1*¬<*,$21+,ӊ09Ө: 22/02/2021
IV.
NGÀY HOÀN THÀNH NH,ӊM 9Ө: 05/12/2021
V. &È1%Ӝ+ѬӞ1*'Ү1 3*6 TS. 1*8<ӈ148Ӕ& CHÍ
Tp. HCM, ngày . . . . tKiQJQăP
&+Ӫ1+,ӊ0%Ӝ0Ð1 Ĉ¬27Ҥ2
CÈ1%Ӝ+ѬӞ1*'Ү1
+ӑWrQYjFKӳNê
+ӑWrQYjFKӳNê
PGS. TS. 1*8<ӈ148Ӕ&&+Ë
75ѬӢ1*.+2A &Ѫ.+Ë
/8Ұ19Ă17+Ҥ&6Ƭ
/Ӡ, CҦ0 Ѫ1
/XұQ YăQ 7KҥF Vƭ Qj\ ÿѭӧF WKӵF KLӋQ WҥL WUѭӡng ĈҥL +ӑF %iFK .KRD 73
+ӗ&Kí Minh.
ĈӇKRjQWKjQKOXұQ YăQQj\W{L[LQWӓOzQJELӃWѫQVkXVҳFYjJӱLOӡLFҧPѫQ
FKkQWKjQKÿӃQ7+Ҫ<3*6 TS 1*8<ӈ148Ӕ&&+ËÿmWұQWuQKKѭӟQJGүQ
giúp ÿӥFKRW{LWUong VXӕWTXiWUuQKWKӵFKLӋQOXұQYăQWӕWQJKLӋS
7{L [LQ FKkQ WKjQK FҧP ѫQ TXê WKҫ\ cô WURQJ %ӝ P{Q &ѫ ĈLӋQ 7ӱ ÿm WұQ
WuQKWUX\ӅQÿҥWNLӃQWKӭFWҥRÿLӅXNLӋQWKXұQOӧL FKRKRҥWÿӝQJKӑFWұSQJKLrQFӭX
YjWKӵFKLӋQOXұQYăQFӫDW{L
Tôi FNJQJ[LQJӱLOӡL cҧPѫQWӟLFiFEҥQOӟSFDRKӑFNKyDÿmJL~SW{LUҩW
QKLӅXWURQJTXitrình hӑFWұS FNJQJQKѭKRjQWKjQKOXұQYăQ
&XӕL FQJ W{L [LQ ÿѭӧF Ej\ Wӓ OzQJ ELӃW ѫQ VkX VҳF WӟL JLD ÿuQK EҥQ Eq ÿm OX{Q
ÿӝQJYLrQNKtFKOӋWLQKWKҫQÿӇW{LFyÿӫQJKӏOӵFKRàn tKjQKOXұQYăQWKҥF Vƭ
Tp.HCM, tháng 12 QăP
1*8<ӈ19Ă175Ҳ1*
/8Ұ19Ă17+Ҥ&6Ƭ
7Ï07Ҳ7/8Ұ1 9ĂN
Ngày nay ngành công QJKLӋS5RERt WUrQWKӟLJLӟi rҩWSKiWWULӇQÿһFOj5RERW
F{QJ QJKLӋS ÿӇ SKөF Yө VҧQ [XҩW 7URQJ ÿy FiF 5RERW OLrQ TXDn ÿӃQ Gk\ FKX\ӅQ
ÿyng JyLVҳS[ӃSSKkQORҥLsҧQSKҭPJҫQÿk\GӵDWUrQF{QJQJKӋ[ӱOêҧQKÿmOjP
ÿѭӧFKҫXKӃW cáFYҩQÿӅÿһWUDFӫDQJjQh F{QJQJKLӋSKLӋQWҥL
Xét vӅOƭQKYӵFOѭXNho – [XҩWKjQJÿӕLYӟL FiFQKjPi\VҧQ[XҩWFyFiFVҧQ
SKҭP ÿyQJ JyL NKӕL OѭӧQJ Wӯ -80 kJ QKѭ 1Kj Pi\ ;L PăQJ 1Kj Pi\ 3KkQ
bón, Nhà máy *ҥR1KjPi\ÿѭӡQJ«WKuFKӫQJORҥL5RERW[ӃS hàQJWӯKӋWKӕQJ
EăQJ FhX\ӅQ OrQ 3Dllet (Palletizing) ÿӇ SKөF Yө F{QJ WiF OѭX NKo 5RERW EӕF Gӥ
KjQJ Wӯ 3DOOHW OrQ EăQJ FKX\ӅQ ÿӇ SKөF Yө F{QJ WiF [XҩW NKR Depalletizing) thì
FNJQJÿѭӧFUҩWQKLӅX1KjVҧQ[XҩWÿҫXWѭYjR YjÿѭDUDUҩWQKLӅXWKLӃWNӃFѫFҩX ÿҫu
gҳp/hút (gripper) phKӧSYӟL WӯQJÿһc tính cӫD sҧQSKҭP7X\QKLrQGӵDWUrQ các
NKҧRViWYӅFiFdòng VҧQSKҭPÿDQJFyWUrQWKӏWUѭӡQJcho ÿӃQWKӡLÿLӇPKLӋn WҥL
thì FKѭDFyPӝW1KjVҧQ[XҩWQjRWKӵFKLӋQVҧQ[XҩWFѫFҩX*ULSSHUFyWtQKQăQJ
WKӵFKLӋQ Yӯa WKӵFKLӋQFKӃÿӝPalletizing YӯDWKӵFKLӋQFKӃÿӝ Depalletizing trên
FQJPӝWÿҫX*ULSSer (2 trong 1).
1KҵPFyWKӇJL~SFKRFiF&{QJW\GRDQKQJKLӋSFy WKӇ WLӃWJLҧPÿѭӧFFKL
SKtÿҫXWѭ FNJQJQKѭYӅPһWNK{QJJLDQOҳSÿһWÿӅWjL“7KLӃWNӃWD\JҳS FӫD Robot
*ULSSHU FyFKӭF QăQJYӯDJҳSYjK~WSKөF vөFKRF{QJWiF[ӃSGӥEDRNK{ng
ÿӗQJQKҩWWUrQSDOOHW” ÿѭӧFQJKLrQFӭXÿӇ JLҧLTX\ӃWYҩQÿӅWҳWQJKӁQchính cӫD
FiF1KjVҧQ[XҩW. 9LӋFFyWKӇÿѭDÿӅWjLQj\ YjRiSGөQJthành công VӁOjPӝWEѭӟF
ÿӝWSKi ÿӕi vӟLOƭQKYӵFFKӃWҥRFác Robot [ӃSYjEӕFGӥKjng hRiÿѭӧFWLӃWNLӋP
YjWKXKҽp NK{QJJLDQOҳSÿһWKѫQ VRYӟLGk\FKX\ӅQKLӋQWҥL
ABSTRACT
Today, the robotics industry is very developed, especially industrial robots
for production. In which the robots involved in the packaging line, sorting,
classifying products recently based on image processing technology have done most
of the problems posed by the current industry.
ii
/8Ұ19Ă17+Ҥ&6Ƭ
In terms of the field of storage - export of manufacturing plants with
packaged products weighing from 20- 80 kg such as: Cement, Fertilizer, Rice,
Sugar plant,... The type of Robots that load goods from the conveyor belt to the
Pallet (Palletizing) for warehousing serving and the Robots to unload goods from
the Pallet onto the conveyor belt for exporting serving (Depalletizing) are also very
popular with many manufacturers. The manufacturer invests in and offers many
designs of the gripper (jaw type, vacuum type,..) to suit each product's
characteristics. However, based on surveys of products available on the market up
to now, there are no manufacturers that have produced a special gripper that has the
ability to perform both the Palletizing mode and the Depalletizing mode (2 in 1) by
the same robot.
In order to help companies and businesses to reduce investment costs and
installation space for the load/unload goods robot line, the topic "Design of a dual
function robot girpper for Depalletizing and palletizing of non uniform bags on
Pallet" researched to solve the main bottleneck problem of Manufacturers. Being
able to put this topic into successful application will be a breakthrough in the field
of manufacturing Robots for loading and unloading goods. It will be saved and
narrowing the installation space compared to the current system.
iii
/8Ұ19Ă17+Ҥ&6Ƭ
/Ӡ,&$0Ĉ2$1
7{LFDPÿRDQFiFNӃWTXҧQJKLrQFӭXÿѭDUDWURQJOXұQYăQQj\GӵDWUrQFiF
NӃWTXҧWKXÿѭӧFWURQJTXiWUuQKQJKLrQFӭXFӫDULrQJW{i.
1ӝLdung FӫDOXұQYăQFyWKDPNKҧRYjVӱGөQJPӝWVӕWK{QJWLQWjLOLӋXWӯ
FiFQJXӗQViFKWҥSFKtZHbsite ÿѭӧFOLӋWNrWURQJGDQKPөFFiFWjLOLӋXWKDPNKҧR
1ӃXSKiWKLӋQFyEҩWNǤVӵJLDQOұQQjRW{L[LQKRjQWRjQFKӏXWUiFKQKLӋPYӅ
QӝLGXQJOXұQYăQFӫa mình. 7UѭӡQJÿҥLKӑF%iFK.KRD73+&0NK{QJOLrQTXDQ
ÿӃQQKӳQJYLSKҥP QӃXFy YӅWiFTX\ӅQEҧn quyӅQGRW{LJk\UDWURQJTXiWUuQK
WKӵFKLӋQ
TP. HCM, tháng 12 QăP
1*8<ӈ19Ă175Ҳ1*
iv
/8Ұ19Ă17+Ҥ&6Ƭ
0Ө&/Ө&
NHIӊM VӨ LUҰ19Ă17+Ҥ&6Ƭ ........................................................................... I
LӠI CҦM Ѫ1 ............................................................................................................. I
TÓM TҲT LUҰ19Ă1 ............................................................................................ II
ABSTRACT ............................................................................................................... II
LӠ,&$0Ĉ2$1 .................................................................................................... IV
MӨC LӨC .................................................................................................................. V
DANH MӨC KÝ HIӊU, CHӲ VIӂT TҲT ........................................................... VIII
DANH MӨC BҦNG BIӆU ..................................................................................... IX
DANH MӨC HÌNH ҦNH ......................................................................................... X
MӢ ĈҪU ................................................................................................................. XII
1. 7tQKFҩSWKLӃWFӫDÿӅWjL ................................................................................. xii
2. 0өFWLrXQJKLrQFӭX ..................................................................................... xiv
2.1. 0өFWLrXQJKLrQFӭX ............................................................................... xiv
2.2. 7LrXFKXҭQNӻWKXұWWKLӃWNӃ ................................................................... xiv
2.3. 1KLӋPYөWKӵFKLӋQFӫDÿӅWjL ................................................................ xiv
3. 3KѭѫQJSKiSQJKLrQ FӭX ................................................................................xv
4. éQJKƭDNKRDKӑFYjWKӵFWLӉQFӫDÿӅWjL ........................................................xv
5. &ҩXWU~FFӫDOXұQiQ ........................................................................................xv
&+ѬѪ1* 7ӘNG QUAN .....................................................................................17
1.1. GIӞI THIӊU CHUNG Vӄ NGÀNH CÔNG NGHIӊP ROBOT TRONG
ӬNG DӨNG CÔNG NGHIӊP .................................................................................17
1.1.1. 5RERWF{QJQJKLӋS ,5-Industrial Robot) [4] ..........................................17
1.1.2. ӬQJGөQJ5RERW [4] .................................................................................18
1.1.3. 7D\JҳSURERWYjFiFORҥLWD\JҳSÿѭӧFGQJWURQJVҧQ[XҩW ...................19
1.1.3.1. 7D\JҳS5RERWJULSSHUURERWOjJu">@ ..............................................19
3KkQORҥLWD\JҳS5RERWJULSSHUURERW">@ .......................................19
1.2. GIӞI THIӊU TӘNG QUAN Vӄ ROBOT SӰ DӨNG CHO CÁC ӬNG
DӨNG BӔC XӂP BAO LÊN PALLET & THÁO DӤ BAO TӮ PALLET XUӔNG
23
1.2.1. +ӋWKӕQJ5RERW[ӃSKjQJKyDOrQSDOOHW [17] .........................................23
&ҩXWҥRFӫD5RERW[ӃSKjQJ .................................................................23
&KӫQJORҥLURERWWK{QJWKѭӡQJVӱGөQJ FKRFiFӭQJGөQJQj\ ..........28
1.2.2. Các thLӃWNӃFӫD5RERWWKiRGӥEDRWӯSDOOHWWUrQWKӃJLӟL .......................28
1.3. LӴA CHӐN - THIӂT Kӂ &Ѫ&ҨU GRIPPER PHÙ HӦP VӞI NHIӊM VӨ
CӪ$Ĉӄ TÀI ............................................................................................................29
v
/8Ұ19Ă17+Ҥ&6Ƭ
1.3.1.
1.3.2.
1.3.3.
ĈiQKJLiFiFFKӫQJORҥLKLӋQFyWUrQWKӏWUѭӡQJ ......................................29
&iFWKLӃWNӃFyNKҧQăQJiSGөQJѭXYjQKѭӧFÿLӇPWӯQJORҥL ..............31
/ӵDFKӑQFѫFҩXSKKӧS .........................................................................36
&+ѬѪ1* &Ѫ6Ӣ LÝ THUYӂT .........................................................................37
2.1 %¬,72È17+Ӵ&7ӂ ................................................................................37
2.1.1. /ӵDFKӑQFKӫQJORҥLVҧQSKҭP EDR FөWKӇÿӇWKLӃWNӃ .........................37
2.1.2. 7K{QJVӕFKLWLӃW ......................................................................................37
2.2 &Ѫ6Ӣ7Ë1+72È1/Ý THU<ӂ7 ...........................................................39
2.2.1. 7tQKWRiQYjOӵDFKӑn giác hút chân không ..........................................39
2.2.1.1. 7tQKWRiQOӵFQkQJFҫQWKLӃWÿӇQkQJÿѭӧFEDRNJ[6] ..................39
2.2.1.2. 7tQKWLӃWGLӋQJLiFK~W [18] ...............................................................41
2.2.1.3. /ӵDFKӑQJLiFK~WSKKӧS [13] ........................................................42
2.2.2. Tính toáQOӵDFKӑQKӋWKӕQJ;\ODQKSKKӧS ....................................42
2.2.2.1. &ѫVӣOêWKX\ӃW ..................................................................................42
2.2.2.2. 7tQKWRiQOӵDFKӑQ;\ODQK phù KӧS [7] ...........................................48
2.2.3. /ӵDFKӑQWKLӃWEӏSKөWUӧFKtQKFӫDKӋWKӕQJ .......................................53
2.2.4. 7tQKWRiQWKLӃWWKLӃWNӃKӋWKӕQJNKtQpQFKkQNK{QJphù hӧS ...........55
2.2.4.1. +ӋWKӕQJNKtQpQ [8] ..........................................................................55
2.2.4.2. +ӋWKӕQJFKkQNK{QJ .........................................................................58
2.2.5. .tFKWKѭӟFKuQKGҥQJFӫD*ULSSHUJLiFK~WWKLӃWNӃ ..........................62
2.3 7Ë1+72È16Ӭ&%ӄ19Ұ7/,ӊ8 [22] ..................................................63
2.3.1. Tính Toán giá trӏӭng VXҩWFKX\ӇQYӏ ...................................................64
2.3.1.1. ӬQJVXҩWFKRSKpS>@ .....................................................................64
2.3.1.2. &KX\ӇQYӏFKRSKpS>@ ...................................................................66
2.3.2. /ӵDFKӑQYұWOLӋXVӱGөQJ [15] .............................................................66
&+ѬѪ1* 7Ë1+72È19¬;Æ<'ӴNG MÔ HÌNH TRÊN PHҪN MӄM MÔ
PHӒNG .....................................................................................................................68
3.1. MÔ HÌNH ROBOT ABB IRB 660 TRÊN 3+Ҫ10ӄ0 [5] ........................68
&KLWLӃWYjWUөFWӑDÿӝ' .........................................................................68
7LӃQKjQK0DWHVWӯQJFKLWLӃW ..................................................................71
3.2. 7+,ӂ7.ӂ&+,7,ӂ7MÔ HÌNH GRIPPER TRÊN 3+Ҫ10ӄ0 MÔ
3+Ӓ1* .................................................................................................................71
&KLWLӃWYjWUөFWӑDÿӝ' .........................................................................71
7LӃQKjQK0DWHVWӯQJFKLWLӃW ..................................................................77
&+ѬѪ1* 0Ð+Î1++Ï$+ӊ THӔNG ............................................................79
3+Ҥ09,7+Ӵ&+,ӊ1 [5] ...........................................................................79
7Ë1+72È1ĈӜ1*+Ӑ&52%27$%%,5%%Ұ&7Ӵ'2 ............80
7K{QJVӕWKLӃWNӃ .....................................................................................80
3KѭѫQJWUuQKÿӝQJKӑFWKXұQ [11] ...........................................................81
4.2.33KѭѫQJWUuQKÿӝQJKӑFQJѭӧF [11] ..........................................................86
0Ð3+Ӓ1*+ӊ7+Ӕ1* .............................................................................88
;k\GӵQJP{KuQK 'WUrQSKҫQPӅPP{SKӓQJFKX\rQGөQJ>@ ......88
vi
/8Ұ19Ă17+Ҥ&6Ƭ
4.3.2. /ұSWUuQKWUrQSKҫQPӅPÿLӅXNKLӇQ FӫD1KjVҧQ[XҩW Siemens.............89
4.3.2.1. 7KLӃWNӃSKҫQFӭQJ ...............................................................................89
4.3.2.2.7KLӃWNӃJLDRGLӋQÿLӅXNKLӇQ.................................................................92
4.3.2.7ҥRNӃWQӕLJLӳDSKҫQPӅPÿLӅXNKLӇQ1KjVҧQ[XҩW6LHPHQVYӟLSKҫQ
PӅPP{SKӓQJFKX\rQGөQJ>@ .....................................................................92
4.3./ұSWUuQKWUrQSKҫQPӅPÿLӅXNKLӇQFKX\rQGөQJ ...............................94
4.3.&Kҥ\P{SKӓQJKӋWKӕQJ .........................................................................95
4.40Ӝ76Ӕ+Î1+Ҧ1+*+,1+Ұ17521*48È75Î1+&+Ҥ<0Ð
3+Ӓ1* .................................................................................................................96
+uQKҧQKP{SKӓQJӣFKӃÿӝ3DOOHWL]LQJ J̷SEDRWͳEăQJW̫L[X͙QJ
pallet) .................................................................................................................96
+uQKҧQKP{SKӓQJӣFKӃÿӝ'HSDOOHWL]LQJ K~WJҳSEDRWӯ3DOOHWOrQ
EăQJWҧL .............................................................................................................97
9LGHRJKLQKұQNӃWTXҧP{SKӓQJ ...........................................................97
&+ѬѪ1*5: KӂT LUҰN 9¬+ѬӞNG PHÁT TRIӆN ..........................................98
5.1. .ӂ7/8Ұ1 ....................................................................................................98
+ѬӞ1*3+È775,ӆ1&Ӫ$Ĉӄ7¬, ..........................................................98
TÀI LIӊU THAM KHҦO .........................................................................................99
vii
/8Ұ19Ă17+Ҥ&6Ƭ
DAN+0Ө&KÝ HIӊ8&+Ӳ9Iӂ7 TҲ7
TT
1
2
3
4
6
Ký hiӋXFKӳDYLӃWWҳW
Depalletizing
Gripper
Chӳ viӃWÿҫ\ÿӫ
Palletizing
Regulator
Robot bӕFGӥKjQJKyDWӯ3DOOHWOrQbăQJFKX\ӅQ
CѫFҩXchҩSKành ÿҫXFXӕLFӫDRobot dùng cҫP,
lҩ\Qâng, hҥYұW(tay gҳS
Robot xӃShàng hoá tӯEăQJFKX\ӅQlên Pallet
BӝÿLӅXFKӍQKiS suҩW
7Ĉ+
Tӵÿӝng hóa
viii
/8Ұ19Ă17+Ҥ&6Ƭ
DAN+0Ө&%Ҧ1*%,ӆ8
Bҧng 2. 1: Bҧng khҧRViWÿӝ võng thӵc tӃ cӫa bao sau thӡLJLDQOѭXNKR ................39
Bҧng 2. 2: BҧQJOѭXOѭӧng tiêu thө OѭXOѭӧng kKtWѭѫQJ ӭng vӟi tӯQJNtFKWKѭӟc Xi
lanh. [19] ...................................................................................................................47
Bҧng 2. 3: Bҧng ӭng suҩt cho phép cӫa mӝt sӕ vұt liӋu thông dөng ........................65
Bҧng 2. 4: Bҧng giӟi hҥQÿӝ võng theo tiêu chuҭn TCVN 5575:2012. ....................66
Bҧng 2. 5: Thành phҫn hóa hӑc vұt liӋu thuӝc tiêu chuҭn ASTM A350 [15] ..........67
Bҧng 2. 6: Bҧng giá trӏ cho phép theo tiêu chuҭn ASTM A350 [15] .......................67
Bҧng 4. 1. Giӟi hҥn chuyӇQÿӝng cӫa các khӟp cӫa robot IRB 660 .........................80
Bҧng 4. 2. Bҧng thông sӕ DH. ..................................................................................83
Bҧng 4. 3: Danh sách tín hiӋu giao diӋn giӳa HMI và Phҫn mӅm mô phӓng chuyên
dөng vӟi bӝ ÿLӅu khiӇn trung tâm (CPU 1516) .........................................................90
Bҧng 4. 4: Danh sách tín hiӋu kӃt nӕi giӳa 2 hӋ thӕng .............................................93
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'$1+0Ө&+Î1+Ҧ1+
Hình 1. 1: Tay gҳp chân không dùng trong ӭng dөng bӕc dӥ hàng hoá. ..................20
Hình 1. 2: Tay gҳp bҵng khí nén ӭng dөng trong công tác xӃp hàng hoá lên Pallet.21
Hình 1. 3: Tay gҳp dùng thuӹ lӵFÿӇ ÿLӅu khiӇn .......................................................22
Hình 1. 4: Tay gҳp sӱ dөng nguӗQÿLӋQÿӇ ÿLӅu khi .................................................22
Hình 1. 5: Cҩu tҥo cӫa Robot xӃp hàng ....................................................................23
Hình 1. 6: Cánh tay robot bӕc hàng hóa ...................................................................24
Hình 1. 7: Phҫn máy cҩp và vào pallet ......................................................................25
Hình 1. 8: HӋ thӕng EăQJFKX\Ӆn..............................................................................26
Hình 1. 9: Hàng rào bҧo vӋ .......................................................................................27
Hình 1. 10: Dây chuyӅn Robot tháo dӥ EDRÿѫQJLҧn ...............................................29
Hình 1. 11: Mӝt sӕ chӫng loҥi Gripper trên thӏ WUѭӡng .............................................30
Hình 1. 12: Gripper gҳp bao tuy nhiên có thiӃt kӃ ÿһc biӋt. .....................................30
Hình 1. 13: Mӝt sӕ hình ҧnh gripper thӵc hiӋn chӭFQăQJ'HSDOOHWWUrQWKӏ WUѭӡng. 31
Hình 1. 14: Hình ҧQKOѭXNKRWKӵc tӃ tҥL1KjPi\Ĉҥm Cà Mau ............................32
Hình 1. 15: Hình ҧnh Gripper sӱ dөng giác hút chân không thӵc tӃ trên thӏ WUѭӡng.
...................................................................................................................................32
Hình 1. 16: Hình ҧnh mô tҧ Gripper tay kҽp tích hӧp 2 hàng giác hút chân không
(dӵ kiӃn) ....................................................................................................................33
Hình 1. 17: Hình ҧnh mô tҧ Gripper tay kҽp tích hӧp mӝt giác hút chân không ӣ
giӳa (dӵ kiӃn). ...........................................................................................................35
Hình 2. 1: Hình ҧnh thӵc tӃ sҧn phҭm Urea cӫD1KjPi\Ĉҥm Cà Mau .................37
Hình 2. 2: Hình ҧnh bao Urea OѭX kho thӵc tӃ tҥL1KjPi\Ĉҥm Cà Mau ...............38
Hình 2. 3: Bҧn vӁ mô phӓng hiӋn trҥng bao sau thӡLJLDQOѭXNKR ..........................38
+uQK ;iFÿӏQKSKѭѫQJ nâng cӫa vұt [6] ...........................................................39
Hình 2. 5: HӋ sӕ an toàn theo khuyӃn cáo [6] ...........................................................40
Hình 2. 6: Biên dҥng giác hút và thông sӕ thӵc tӃ cӫa Nhà sҧn xuҩt Schmalz .........42
Hình 2. 7: BiӇXÿӗ [iFÿӏnh lӵFÿҫy cӫa Piston [19] ................................................44
Hình 2. 8: BiӇXÿӗ quan hӋ giӳa các thông sӕ cӫa cán Piston và lӵFÿҭy [19] .........45
Hình 2. 9: BiӇXÿӗ [iFÿӏQKOѭӧng tiêu thө khí riêng cӫa xi lanh q [19] ..................47
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Hình 2. 10: Catalog, bҧn vӁ layout và các thông sӕ NtFKWKѭӟc chi tiӃt.[8] ..............49
Hình 2. 11: Thông sӕ lӵFWiFÿӝQJWѭѫQJӭng vӟi tӯQJNtFKWKѭӟc và áp suҩt vұn
hành [8] .....................................................................................................................50
Hình 2. 12: Catalog, bҧn vӁ layout và các thông sӕ NtFKWKѭӟc chi tiӃt [8] ..............52
Hình 2. 13: Thông sӕ lӵFWiFÿӝQJWѭѫQJӭng vӟi tӯQJNtFKWKѭӟc và áp suҩt vұn
hành [8] .....................................................................................................................52
Hình 2. 14: Thông sӕ thiӃt bӏ ÿRiSsuҩt [14] ...........................................................53
Hình 2. 15: Thông sӕ ӕng dүn khí chân không [14] .................................................54
Hình 2. 16: Thông sӕ ÿҫu vào cӫD;LODQKÿѭDYjRSKҫn mӅm SMC [8] .................55
+uQK /ѭXOѭӧng cҫn thiӃt cho hӋ Xi lanh dӵa trên phҫn mӅm SMC [8] ........55
Hình 2. 18: Thông sӕ ÿҫu vào cӫD;LODQKÿѭDYào phҫn mӅm SMC [8] .................56
+uQK /ѭXOѭӧng cҫn thiӃt cho hӋ Xi lanh dӵa trên phҫn mӅm SMC [8] ........56
Hình 2. 20: Hình ҧnh thӵc tӃ & thông sӕ kӻ thuұt máy nén khí ...............................57
Hình 2. 21: Cҩu tҥo vӓ EDR8UHDĈҥm Cà Mau ........................................................59
Hình 2. 22 ĈLӇPUz YzQJPjXÿӓ xung quanh giác hút) ........................................60
Hình 2. 23: KhoҧQJFiFKÿҫXK~WÿӃn ngón tay ........................................................62
Hình 4. 1 Data sheet Robot ABB – IRB 660 [5].......................................................79
Hình 4. 2: Bҧn vӁ mô tҧ các bұc tӵ do cӫa Robot ABB 660 [5] ...............................80
Hình 4. 3: Mô tҧ vùng làm viӋc cӫa Robot theo thông sӕ Nhà sҧn xuҩt ABB [5] ....81
+uQK ;iFÿӏnh các tham sӕ liên kӃt DH tiêu chuҭn [20] ..................................82
Hình 4. 5: Gҳn hӋ toҥ ÿӝ cӫa cánh tay robot IRB 660 -ABB ...................................83
Hình 4. 6: Giao diӋn vӁJKpSFiFÿӕLWѭӧng thành mô hình 3D hoàn chӍnh ............89
Hình 4. 7: Giao diӋn cҩXKuQKÿһc tính cho tӯQJÿӕLWѭӧng ......................................89
Hình 4. 8: KӃt nӕi phҫn cӭng cӫa bӝ ÿLӅu khiӇn.......................................................90
Hình 4. 9: Giao diӋQÿiӅu khiӇQÿѭӧc thiӃt kӃ trên phҫn mӅm phҫn mӅPÿLӅu khiӇn
cӫa Nhà sҧn xuҩt Siemens .........................................................................................92
Hình 4. 10: Giao diӋn tҥo kӃt nӕi giӳa phҫn mӅP ÿLӅu khiӇn cӫa Nhà sҧn xuҩt
Siemens và mô phӓng chuyên dөng ..........................................................................93
Hình 4. 11: Giao diӋn thiӃt kӃ FKѭѫQJWUuQKFKREӝ ÿLӅu khiӇn ................................95
Hình 4. 12: Giao diӋQFKѭѫQJWUuQKFKҥy mô phӓng.................................................95
Hình 4. 13: Giao diӋn chҥy mô phӓng ......................................................................96
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0ӢĈҪ8
1. 7tQKFҩSWKLӃWFӫDÿӅWjL
+LӋQ QD\ WUrQ WKӃ JLӟL có UҩW QKLӅX KӋ WKӕng Robot xӃS EDR OrQ 3DOOHW
(Palletizing YjEӕFGӥKjQJhóa tӯ3DOOHWOrQ Depalletizing). Tu\QKLrQFKѭDWӗQ
WҥLPӝWKӋ WKӕQJKRҥWÿӝQJÿӗQJWKӡLFKӭFQăQJPalletizing & Depalletizing. Theo
ÿiQKJLiFӫDFiQKkQWKuPӝWWURQJFiF\ӃX WӕPjKӋWKӕQJWUrQFKѭDUDÿӡLOjGRFiF
\ӃXWӕVDX
-
9͉NLQKW͇
9ӅQKXFҫXthӵFWӃFӫDGRDQK QJKLӋp FKѭDWKұW sӵFҫQWKLӃWWKӏWUѭӡQJFung
FҩSFho các dòng RoboWQj\FNJQJNK{QJQKLӅXQrQFiF1KjVҧQ[XҩW1KjFXQJ
FҩSFKѭDÿҫXWѭWKtFKÿiQJÿӇQJKLrQ FӭX
+ Giá WKjQKÿҫXWѭFDR
-
9͉\͇XW͙NͿWKX̵W
7KHR QJKLrQ FӭX FiF KӋ WKӕQg, Gk\ FKX\ӅQ 5RERW Palletizing, Robot
Depalletizing ÿӝFOұSKLӋQWҥLWKuYӅPһWNӃFҩXFѫNKtKRjQWRjQNKiFQKDXEDR
JӗPFҧFѫFҩXJҳSK~W *ULSSHU YjFҧKӋWKӕQJ&ѫNKtÿL kqPFөWKӇ:
Robot
&ҩXWҥR
Palletizing
Depalletizing
.Ӄ FҩX Fѫ NKt: Sӱ KӃFҩXFѫNhí: 6ӱGөQJÿҫXK~WFKkQ
GөQJ FѫFҩXQJjPNҽS
không
+Ӌ WKӕQJ ÿLӅX NKLӇQ +Ӌ WKӕQJ ÿLӅX NKLӇQ VHQVRU 6ӱ
Gripper
sensor: 5ҩW tW 1Kj GөQJQKLӅXFKӫQJORҥLVHQVor ÿӇ giám
FXQJ FҩS Vӱ GөQJ ViW Fө WKӇ 6Hnsor giám sát áp chân
VHQVRUYjNK{QJFҫQVӱ NK{QJ FӫD ÿҫX K~t, sensor báo
GөQJ WKXұW WRiQJLҧL FKҥPNKRҧQJ FiFK ÿӃQ EDRKjQJ KyD
WKXұW ÿLӅX NKLӇQ SKӭc FҫQ JҳS« PӝW Vӕ KӋ WKӕQJ FzQ SKҧL
xii
/8Ұ19Ă17+Ҥ&6Ƭ
WҥS
GQJ ÿӃQ &DPHUD Yj F{QJ Fө [ӱ Oê
ҧQK ÿӇ [iF ÿӏQK FKtQK [iF Yӏ WUt FNJQJ
QKѭKuQKGҥQJEDR
- &DRÿӝJLӳDEăQJWҧL 3DOOHW Do
- &DRÿӝJLӳDEăQJtҧL
&
Pallet:
Thông
WKѭӡQJ FDR ÿӝ FӫD
EăQJ WҧL SKҧL FDR EҵQJ
hoһF KѫQ FDR ÿӝ FӫD
+Ӌ WKӕQJ &ѫ
khí, pKөtrӧ
SDOOHW NKL ÿm FKҩW ÿҫ\
WҧL OӟSWUrQFQJ
- +Ӌ WKӕQJ SKө WUӧ
Không
FҫQ
các
KӋ
WKӕQJSKөWUӧQKLӅX
VӱGөQJQJXyên lý hút chân không nên
dӉGүQÿӃQEDREӏ UӟWNKLGLFKX\ӇQӣ
YұW WӕF Qhanh, do Yұ\ KҫX KӃW FiF KӋ
WKӕQJ ÿLӅX WUDQJ Eӏ KӋ WKӕQJ QkQJ
3DOOHW QKҵP PөF ÿtFK WҥR UD FDR ÿӝ
OӟSWrên FQJFӫDSDOOHWFDRKѫQKRһF
EҵQJ FDR ÿӝ FӫD EăQJ WҧL ÿӇ *ULSSHU
FKӍ FҫQ QkQJ ÿѭӧF bao lên và di
FKX\ӇQ nganJ ÿӇ KҥQ FKӃ WӕL ÿD WuQK
WUҥQJ Uӟt bao khi GL FKX\ӇQ QKҵP
QkQJF{QJVXҩWFӫDKӋWKӕQJOrQ
- +Ӌ WKӕQJ SKө WUӧ 3KҧL WUDQJ Eӏ
WKrP KӋ WKӕQJ K~W châQ NK{QJ KӋ
WKӕQJEѫPWKӫ\OӵFÿӇQkQJKҥSDOOHW
&{QJ
(bao/h)
VXҩW &{QJ VXҩW khá OѫQ Wӯ
1000 -1800 baoJLӡ.
- CôQJVXҩWFKӍWӯ-1000 baoJLӡ
+ 'RYұ\YLӋFWtFKKӧSKӋWKӕQJQj\OҥLYӟLQKDXFKѭDNӇÿӃQJLiWUӏYӅJLi
WKjQK VҧQ [XҩW WKu FiF \ӃX Wӕ YӅ PһW Nӻ WKXұW FNJQJ NKi SKӭF WҥS FҫQ SKҧL Fy
PӝWWKLӃWNӃULrQJELӋWFKRWӯng KӋ WKӕQJFөWKӇ
9ӟLWình hình ngKLrQFӭXYjFiFVҧQSKҭP5REot, dây cKX\ӅQ[ӃS EӕFEDR
WUrQ WKӏ WUѭӡQJ QKѭ KLӋQ QD\ WKu ÿzL KӓL QKX FҫX FҫQ Fy PӝW KӋ WKӕQJ WtFK KӧS
cKӭFQăQJ Palletizing & Depalletizing YӟLJLiWKjQKÿҫXWѭSKKӧSQKҵPWLӃSFұQ
ÿӃn lѭӧng khách hàng có nhu FҫXVӱGөQJQKѭQJNK{QJSKҧLÿҫXWѭKӋWKӕQJÿӝF
xiii
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OұSYӯD OmQJSKtYӅFKLSKtÿҫXWѭEҧRGѭӥQJVӱDFKӳDYjÿһFELӋWOjFҫQSKҧLFy
GLӋQWtFKOҳSÿһWUӝng.
2. 0өFWLrX nghiên FӭX
2.1.
0өFWLrXQJKLrQFӭX
0өFWLrXQJKLrQFӭXOjWҥRUDPӝW cѫ cҩXGripper (tay gҳS có thӇhoҥWÿӝQJ
ÿӗQJ WKӡL FKӭF năQJ kҽS Yà hút nhҵP ӭQJ GөQJ cho KӋ WKӕQJ 5RERW Nhà máy
ĈҥP&à Mau KRҥWÿӝQJEiQÿӗQJWKӡLFKӭFQăQJPalletizing và Depalletizing phù
KӧSYӟLÿһFWKFKREDRSKkQXUHDFӫD1KjPi\.
2.2.
-
Tiêu chuҭQNӻWhuұWWKLӃWkӃ
CѫFҩX Gipper ÿѭӧc thiӃWNӃÿҧPEҧRYұQKành ÿѭӧFYӟLKӋthӕQJCѫ khí hiӋn
tҥLFӫD1Kà máy ĈҥP&à Mau, không thay ÿәLFác kӃWFҩXFѫNKí QKѭcao ÿӝ
băQJWҧLNhông lҳSWKêm các kӃWFҩXFѫNKí còng kӅQKҧQKKѭӣQJÿӃn thiӃWNӃ
hiӋQcó.
-
9ӓEao không EӏҧQKKѭӣQJ Uách, PҩWPju) WURQJTXiWUuQKJҳSK~WEDo.
-
&өPJҳp/hút bao ÿiSӭQJ ÿѭӧFYӟLVҧQSKҭPOѭXNKRYӟLWKӡLJLDQOkXFyKLӋQ
WѭӧQJ YyQ FөF &ө WKӇ: ÿӝ FDR EӅ PһW EDR FKênK OӋFK GR KLӋQ WѭӧQJ YyQ FөF
QKӓKѫQ5cm.
2.3.
NhiӋP YөthӵFKLӋQcӫDÿӅ tài
-
7tQKWRiQOӵFK~W lӵFQkQJ Fho bao Urea 50kg .
-
Tính toán OѭXOѭӧng thҩWWKRát – rò rӍOѭXOѭӧQJFҫQcó ÿӇÿҧPEҧRWKӡLJLDQ
ÿáp ӭQJFӫDhӋWKӕQJiSVXҩWFKkQNK{QJWӕLWKLӇXSKҧLÿҥWÿѭӧFÿӇ OӵDFKӑQKӋ
%ѫPFKkQNK{QJSKKӧS
-
%ҵQJSKѭѫQJ SKiSthӵFngKLӋPÿӇ ÿinh giá bLrQGҥQJWhay ÿәL ÿ͡Y}QJFͯD
bao sau khi dùng chân không hút lên).
-
7tQKWRiQOӵDFKӑQFѫFҩXNҽSNtFKWKѭӟF-hành trình X\ODQKFKRQJjPNҽS
kích thѭӟF– KjQKWUuQKFѫFҩX;\ODQKÿҫXJLiFFKkQNKông.
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/8Ұ19Ă17+Ҥ&6Ƭ
7KLӃW NӃ FiF WKLӃW Eӏ SKө nKѭ TKLӃW Eӏ ÿR iS Vuҩt chân không, máy nén khí
,QVWUXPHQW Eӝ ÿLӅX FKӍQK áp (Regulator ÿӇ YұQ KjQK FөP ;\ lanh, &iF ӕng
GүQNKtQpQӕQJGүQFKkQNK{QJ
-
/ӵD FKӑQ WKLӃW Eӏ SK KӧS Wӯ FiF Nhà sҧQ [XҩW SK KӧS WK{QJ TXD Fѫ Vӣ WtQK
tRiQOêWKX\ӃW
-
7KLӃWNӃFѫFҩX Gripper WtFKKӧSNҽSEao và giác hút bao 2 WURQJPӝW(2 in 1)
thông TXDSKҫQPӅPmô phӓQJchuyên dөQJ.
-
'ӵng mô hình 3' JӗP 5obot NӃW QӕL ÿҫX *ULSSHU WK{QJ TXD SKҫQ PӅP mô
phӓQJchuyên dөQJ.
-
&Kҥ\ P{SKӓQJtoàn hӋWKӕQJWUrQSKҫQPӅPmô phӓQJ chuyên dөng và phҫQ
mӅPÿLӅXNKLӇQ Fӫa Nhà sҧQ[uҩW Siemens.
3. 3KѭѫQJSKiS nghiên cӭX
-
Nghiên FӭXGӵa trên WKӵFQJKLӋPKӋWKӕQJ5RERWPalletizing Gk\FKX\͉QO˱X
kho) ÿDQJ YұQ KjQK WҥL 1Kj Pi\ ĈҥP &j 0DX Yj WKDP NKҧR FiF KӋ WKӕQJ
PalletizingKӋWKӕQJDepalletizing ÿang ÿѭӧFiSGөQJWKӵFWӃWUrQWKӏ WUѭӡQg.
-
'ӵDWUrQFiFFѫVӣOê tKX\ӃWYà cáFSKҫPPӅPcӫD1KjVҧQ[XҩW WKLӃWEӏSKҫQ
PӅPWKLӃWNӃP{SKӓQJFKX\rQGөQg.
4. éQJKƭDNKRD KӑFYjWKӵFWLӉQFӫDÿӅWjL
-
ĈӅWjLÿѭӧFiSGөQJWKӵFWӃWUrQPӝWGâ\FKX\ӅQRobot OѭXkho và [XҩWKjQJ
tҥL1KjPi\ĈҥP&j0Du YjVӁQKkQUӝQJcho 3 dâ\FKX\ӅQ Robot FzQOҥL FӫD
Nhà máy.
-
ĈӅWjLPDQJOҥLWtQKPӟLWtQKOLQKKRҥWYjWLӃWJLҧPFKLSKtWURQJYLӋFÿҫXWѭKӋ
WKӕQJ5RERWSKөFYөFKRF{QJWiFOѭXNKRYj[XҩWNKR FӫDFiF Nhà máy công
nghiӋS.
5. &ҩXWU~FFӫDOXұQiQ
'ӵiQcó FҩXWU~FYӟL5 cKѭѫQJQKѭVDX
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ChѭѫQJ : 7͝QJ 4XDQ. &KѭѫQJ Qj\ WUuQK Ej\ WәQJ TXDQ YӅ KӋ WKӕQJ 5RERW
troQJ F{QJ QJKLӋS \ WӃ TXkQ Vӵ *LӟL WKLӋX WәQJ TXDQ YӅ Fѫ FҩX FKҩS KjQK
(Gripper) FӫDPӝW VӕKӋWKӕQJWK{QJGөng.
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