摘要
利用工业机器人进行高锁螺母自动化安装,是替代人工繁重劳动的有效途径,然而需要设计合适的末端执行器来执行该安装任务。根据高锁螺母的安装工艺特点和拧断力矩,分析确定了动力源和减速器增扭倍率。设计了高锁螺母自动化安装执行器,特别是设计了分离式前、后套筒结构,并用导销导槽连接两部分。建立了螺纹旋合处和导销导槽处受力状态模型,分析并证实了前套筒扳手在扭转的同时,能够伴随高锁螺母实现轴向进给,完成其旋合拧紧。采用PLC控制该执行器,进行高锁螺母安装试验,自动化安装效果良好。
The automatic installation of hi-lock nuts by industrial robots is effective to replace heavy manual labor,but a suitable end-effector is needed to perform the installation task.In this article,according to the characteristics of the installation process and the fracture torque of the hi-lock nuts,both the power source and the reducer's torque increase rate are determined.Besides,the end-effector for automatic installation of the hi-lock nuts is designed.Especially,the separated front-and-rear socket structure is developed,and the two parts are jointed with the guide pin and the guide groove.The force model is set up for the positions of the screw engagement as well as the guide pin and the guide groove.It is verified that the front socket wrench realizes axial feed along with the hi-lock nuts while twisting on one hand,and completes its engagement and tightening on the other hand.PLC is used to control the end-effector and carry out the experiments of hi-lock nut installation.As a result,the task of automatic installation achieves desirable outcomes.
作者
姜杰凤
JIANG Jiefeng(Qianjiang College,Hangzhou Normal University,Hangzhou 310036)
出处
《机械设计》
CSCD
北大核心
2023年第10期19-23,共5页
Journal of Machine Design
基金
浙江省基础公益研究项目(LGG18E050018)。
