纱筒搬运机器人的设计  

Design of a Bobbin Yarn Handling Robot

作　　者：魏哲[1] 焦航 WEI Zhe;JIAO Hang(College of Mechanical and Electrical Engineering, Xi’an Polytechnic University,Xian 710048,China)

机构地区：[1]西安工程大学机电工程学院,陕西西安710048

出　　处：《机械与电子》2020年第8期76-80,共5页Machinery & Electronics

基　　金：陕西省自然科学基础研究计划项目(2017JM5141);陕西省教育厅专项科研计划项目(17JK0334);西安市科技局创新引导项目(201805030YD8CG14(5))。

摘　　要：针对纺织企业人工搬运纱筒的效率低,劳动强度大等问题,设计纱筒抓取机器人来代替人工完成筒纱的搬运。在分析纱筒搬运过程的运动特征基础上,通过对自由度、本体结构和驱动方式的计算,选用UR10人机协作机器人作为纱筒搬运机器人的本体。为了提高搬运效率,设计开发了具有平移内撑式的双抓取机构和推纱机构的末端执行器,采用SolidWorks建立了结构模型和装配模型。设计机器人操纵界面实现工艺参数的调整和工作状态的监控。实验结果表明,纱筒搬运机器人可以有效完成单次对2只筒纱的抓纱和推纱工作循环,连续工作安全,性能稳定。Aiming at the problems of low efficiency and high labor intensity of manually transferring package yarn in textile enterprises,a gripping robot for package yarn is designed to replace the package yarn manually.On the basis of analyzing the kinematic characteristics of the package yarn movement process,by calculating the degrees of freedom,main body structure and driving method,the UR10 humanrobot cooperative robot was selected as the main body of the package yarn transfer robot.In order to improve the conveying efficiency,an end effector with an internal support type clamping mechanism and a yarn pushing mechanism with a translation function is designed and developed.The structural model and assembly model were established using SolidWorks.The robot operation interface is designed to adjust the process parameters and monitor the working status.The experimental results show that the bobbin yarn handling robot can effectively complete the working cycle of grasping and pushing the yarn of two bobbins in a single operation,and the continuous work is safe and the performance is stable.

关 键 词：纱筒 搬运机器人 SOLIDWORKS 末端执行器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]