重载码垛机器人弹簧平衡机构的优化设计  

Optimum Design of the Spring Balance Mechanism in Heavy-duty Palletizing Robot

作　　者：陈落根 赵振 叶利峰 郭小宝 张东海 周海江 

机构地区：[1]杭州娃哈哈集团机电研究院智能装备研究所,杭州310020

出　　处：《上海电气技术》2015年第4期1-4,共4页Journal of Shanghai Electric Technology

基　　金：国家科技重大专项(编号:2011ZX04013-011)

摘　　要：在重载码垛机器人的设计中,偏重力矩对机器人的动态性能影响巨大。针对这一问题,重点研究了机器人大臂弹簧平衡机构的优化设计方法,以便最大限度地降低不平衡力矩。基于大臂弹簧平衡系统的力学模型,建立了偏重力矩、弹簧力矩、不平衡力矩与大臂转角之间的关系。结合机器人实际结构空间和安装工艺,确定了关键参数的取值范围。最后,结合300kg码垛机器人设计实例,着重讨论了弹簧平衡机构的优化设计方法。结果表明,该方法可以有效降低不平衡力矩,提高机器人的性能。In the design of heavy-duty palletizing robot, the biased moment induces a great effect on the dynamic performance of the robot. Aiming at this issue, we put our priority on the optimization design of the spring balance mechanism of the robot arm in order to minimize the unbalanced moment. Base on the mechanical model of the arm spring balance system the relationship among the biased moment, spring moment, unbalanced moment and the arm angle is established. And in combination of the actual structure space and assembly process of the robot, the spans of key parameters are determined. Finally, via the design case of 300 kg palletizing robot, the paper gives emphasis to the optimization design of the spring balance mechanism. The results show that this method can effectively reduce the unbalanced moment and improve the performance of the robot.

关 键 词：码垛机器人 偏重力矩 弹簧 平衡机构 优化设计 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]