基于发动机缸体压铸工业机器人末端操作器的设计  

End-effector of the industrial robot on the cylinder block casting

作　　者：范娟 张新建 杨家军 

机构地区：[1]文华学院机械与电气工程学部,湖北武汉430074 [2]华中科技大学机械工程学院,湖北武汉430074

出　　处：《机电工程》2018年第3期256-260,共5页Journal of Mechanical & Electrical Engineering

基　　金：国家重大科技专项资助项目(2013ZX04008-031)

摘　　要：针对发动机缸体笨重,生产效能低下,配套末端操作器频繁更换导致产线故障频发等一系列技术问题,对发动机繁杂型号、缸矩不均、笨重缸体取放、末端操作器更换、产线故障频发等进行了深入研究。经过对发动机缸矩数据、机器人变矩抓手、末端操作器快速更换、气动控制夹持力大小、变矩缸矩抓取要求进行了归纳,提出了一种基于传统专机和人工辅助的设计生产工艺,设计采用了伺服等量变矩,利用机械与电气控制相结合得到了预设结构数模,测试实验对结构设计进行了验证。研究结果表明,该结构设计大大提高了汽车发动机缸件压铸产能、快速变矩切换机型、减少了产线故障、缩短维护经费、对企业实际生产改造具有重大意义。Aiming at a series of technical problems,such as heavy engine cylinder,low production efficiency,frequent production line fault caused by frequent change of the end assorting manipulator,the diverse model of engine,uneven cylinder moment,handling of heavy cylinder,replacement of end manipulator,frequent production line fault were studied in depth. Through summarizing cylinder moment data of engine,variable moment grab of robot,quick change of end manipulator,chucking power controlled pneumatically,variable cylinder moment grabbing requirement,a human-aided design production process based on traditional special machine was proposed. The numerical simulation of the preset structure using servo equivalent variable moment was obtained combined with mechanical and electrical control. The structural design was verified by the test. The research result indicates that the structural design has great significance on enhancing the pressure casting yield of auto engine cylinder,quick moment change and model shift,reducing production line fault,shortening maintenance expense and renovating the actual production of enterprise.

关 键 词：压铸岛 末端操作器 发动机缸体 机器人压铸 夹持器 

分 类 号：TH122[机械工程—机械设计及理论] TH39