轨道式多臂铸件清理机器人的设计与分析  

Design and Analysis of Orbital Multi-arm Casting Cleaning Robot

作　　者：王成军[1] 邾志伟 郭永存[1] 任润润 WANG Chengjun;ZHU Zhiwei;GUO Yongcun;REN Runrun(College of Mechanical Engineering,Anhui University of Science and Technology,Huainan 232001,China)

机构地区：[1]安徽理工大学机械工程学院,安徽淮南232001

出　　处：《铸造技术》2019年第1期81-84,88,共5页Foundry Technology

基　　金：国家创新方法工作专项(2018IM010500);安徽省科技重大专项项目(16030901012);安徽省自然科学基金面上项目(1708085ME98);淮南市高校创新人才团队专项计划项目(2017A054)

摘　　要：针对现有铸件清理工作费工费时且需要大量劳动力问题,基于TRIZ理论进行系统功能和冲突矩阵分析,结合多用性原理、动态化原理、小人法和拓扑结构设计了一种悬挂轨道式多臂型铸件清理机器人。结果表明,该机器人能够完成铸件清理的所有工序,且其适应性和多用性较好,能够克服现有铸件清理机器人存在的技术缺陷,并为机器人样机制作提供理论依据,为新产品研发提供实时指导。A kind of orbital multi-arm casting cleaning robot was designed and analyzed by multi-purpose principle,dynamic principle, small man method and topological structure design methods based on the system function analysis and conflict matrix analysis by TRIZ theory. The robot can complete all the processes of casting cleaning, and its adaptability and versatility are good. The results show that the robot can complete all the casting cleaning procedures. It has good adaptability and versatility, and can overcome the technical defects of the existing casting cleaning robot. It also provides theoretical basis for robot prototype production and real-time guidance for new product research and development.

关 键 词：铸件清理机器人 TRIZ理论 悬挂轨道 多臂机器人 变胞结构 

分 类 号：TG243[金属学及工艺—铸造]