摘要
为减轻工人劳动强度,弥补传统生产线上码垛作业的不足,降低作业的危险性,本文设计了一种串并联式多自由度的关节型料袋码垛机器人,主要分析设计了码垛机器人的机械系统工作原理和控制系统工作原理,并借助三维软件建立了料袋码垛机器人的虚拟样机,通过虚拟样机的装配,验证其结构的合理性,然后根据料袋特点,对机器人抓取部分——末端执行器结构进行重点设计,对重点受力部件——小臂建立三维模型,并进行受力分析,根据分析结果进行优化设计.
In order to reduce the labor intensity of workers,make up for the shortage of palletizing operations on traditional production lines,and reduce the risk of operation,this paper designs a series-parallel multi-degree-of-freedom joint-type bag palletizing robot,which mainly analyzes and designs the palletizing robot.The working principle of the mechanical system and the working principle of the control system,and the virtual prototype of the bag palletizing robot are established by means of the three-dimensional software.Through the assembly of the virtual prototype,the rationality of the structure is verified.The end effector structure,as the grabbing part of the robot,is designed emphatically according to the characteristics of the bag.A three-dimensional model is established for arm,the key load-supporting structure.At the same time,force analysis is carried out.The optimization design is conducted on the basis of the analysis results.
作者
张海波
ZHANG Haobo(Huanghe Science and Technology College,Zhengzhou Henan 450063)
出处
《黄河科技学院学报》
2019年第5期35-38,共4页
Journal of Huanghe S&T College
关键词
码垛
机器人
抓取
stacking
robot
grapevine
inventor
