Yakymchuk V. Structural and parametric synthesis of functional-mechatronic modules of robotic complexes for the formation of transport packages with food products

The dissertation is devoted to the development of a methodological approach to the design of robotic complexes for the formation of transport packages with food products, which is based on morphological analysis and synthesis of their structure and multi-criteria synthesis of their functional-mechatronic modules. The study evaluated the competitiveness of typical samples of robotic complexes for the formation of transport packages with food products and their functional modules on the basis of a selective analysis and synthesis of admissible layout options. On the basis of morphological analysis, the service function of robotic complexes for the formation of transport packages with food products was decomposed and their characteristic functional-mechatronic modules were selected, and a hierarchical structure was built. The arrays of constructive implementation of functional-mechatronic modules have been obtained: feeding of unitary cargo; horizontal movement of structural elements of the transport package; vertical movement of a container load or a structural element of a transport package; feeding of a single pallet, which are recommended to be used to create parametric series of designs that perform the same type of technological operation. On the basis of the morphological synthesis, important parameters and criteria of technical efficiency were established both for the robotic complex in general and for its functional-mechatronic modules, namely, the maximum load; the maximum speed of movement of working bodies; accuracy of positioning of work links; energy costs for the performance of official functions; possibility of quick reconfiguration. According to these parameters and criteria, an evaluation of the effectiveness of the structure of functional mechatronic modules for horizontal and vertical movement of packaged cargo was performed and a search set was obtained within the analysis of four types of functional modules for vertical movement and within the analysis of five types of functional modules for horizontal movement. The rational movements of the working bodies of robotic complexes are theoretically substantiated when the condition of energy conservation is met during the formation of a transport package. It was found that the difference between the energy consumption for the formation of the transport package according to the typical scheme and the proposed scheme is 140%. The construction of a functional-mechatronic module for step-by-step movement of a platform with a pneumatic drive and an energy recovery function for the formation of structural elements of a transport package is proposed. The relationship between the mass of the structural elements of the transport package, the driving force of the platform of the mechatronic module of the step-by-step movement of the platform with a pneumatic drive and the value of the control signal was established in order to ensure the accuracy of the positioning of the platform. The results of experimental studies determined that the proposed control scheme of the functional-mechatronic module of the step-by-step movement of the platform with a pneumatic drive saves up to 40% of compressed air energy in the process of forming a transport package, which can be reused in repeated cycles of the technological process of forming a transport package. Analytical dependencies have been developed to determine the duration of the technological operation of moving a container load in a horizontal plane according to a given law of motion, and the rational parameters of the functional-mechatronic module of linear movement with an electromechanical drive have been evaluated, which made it possible to reduce the total power of the drive. A comprehensive approach is proposed for determining the minimum and maximum values of the vacuum under the condition of safe holding of the container cargo by the vacuum gripping device according to three indicators of operational requirements during the transfer operation. A mathematical model has been developed to determine the energy performance of vacuum generators with the energy saving function. The results of comprehensive scientific research are the scientific basis for practical recommendations for improving known and creating innovative designs of mechatronic modules that perform the maximum number of useful functions and meet the criteria of technical efficiency: pilot samples of new functional mechatronic modules with a pneumatic drive and energy recovery function have been developed and proposed for vertical movement of packaged goods and for structural elements of the transport package and a functional-mechatronic module with a vacuum gripping device with an energy-saving function.