基于自动包装码垛技术的码垛机器人研究  

Palletizing Robot Based on Automatic Packaging Palletizing Technology

作　　者：朱洪雷[1] 代慧[2] 罗隆[1] ZHU Hong-lei;DAI hui;LUO Long(Guangzhou Institute of Technology,Guangzhou 510925,China;Guangzhou Panyu Polytechnic,Guangzhou 511483,China)

机构地区：[1]广州工程技术职业学院,广州510925 [2]广州番禺职业技术学院,广州511483

出　　处：《包装工程》2020年第13期231-236,共6页Packaging Engineering

基　　金：广东省教育厅2017年重点平台及科研项目(2017GKTSCX048)。

摘　　要：目的为了更全面地了解码垛机器人的使用性能,使其更好地应用于工程实践中,对其动力学进行理论及仿真分析。方法采用第2类Lagrange方程对工业码垛机器人进行动力学方程计算,并运用ADAMS软件建立工业码垛机器人虚拟样机模型,考虑负载及关节转动时的摩擦,依照码垛机器人的循环工作流程进行仿真分析。结果得出了码垛机器人的动力学方程组,码垛机器人的动力学方程与机器人的负载、部件的结构质量、运动时的加速度等具有正相关关系。仿真得到了机器人工作过程中各个关节的受力曲线图,各关节所需驱动力及力矩随着负载的增加及末端执行器的位置变化而不断增加和变化。结论仿真结果验证了动力学理论分析的正确性,为工业码垛机器人的驱动部件的选型及控制系统的设计提供了有效的理论依据,为工业码垛机器人大范围走向工程应用实践提供了有力的技术支持。The work aims to fully understand the performance of palletizing robot, make it better applied in the engineering practice, and carry out the theoretical and simulation analysis on its dynamics. The second Lagrange equation was used for the dynamic equation of industrial palletizing robot, and the ADAMS software was used to establish the virtual prototype model of industrial palletizing robot. Considering the friction of load and joint rotation, the simulation analysis was carried out according to the cyclic workflow of the palletizing robot. Dynamic equations of the palletizing robot were obtained and had positive correlation with the load of the robot, the structural mass of the parts and the acceleration during the movement. The stress curves of each joint in the working process of the robot were obtained by simulation, and the driving forces and torques required for each joint increased and varied with the increase in the load and the changing position of the end-effector. The simulation results verify the correctness of the theoretical dynamic analysis, providing an effective theoretical basis for the drive components selection of industrial palletizing robot, and a strong technical support for the industrial palletizing robot to move towards the engineering application in a large scale.

关 键 词：工业码垛机器人 LAGRANGE方程 动力学仿真分析 

分 类 号：TP246[自动化与计算机技术—检测技术与自动化装置]