块状食品拾放的并联机器人  

The Parallel Robot Based on Lumpy Food Packing

作　　者：李克锋[1] LI Kefeng(Nanyang Medical College,Nanyang 473000)

机构地区：[1]南阳医学高等专科学校,南阳473000

出　　处：《食品工业》2020年第10期222-224,共3页The Food Industry

摘　　要：中国的食品包装行业大部分还在依靠人工,尤其是上料拾放这种重复性的劳动,依靠人工不仅工作强度大,而且卫生不能保证,所以急需一种高速、稳定的拾放机器人来代替人工。在分析块状食品全自动包装生产线技术要求基础上,设计一种三自由度并联机器人,介绍了其基本结构及主要部件的设计,利用ANSYS的Workbench模块对机器人整机作了模态分析。得到机器人的固有频率,机器人在频率80~121 Hz之间易发生共振,通过振型图得到机器人运动铰链上的虎克铰位置最易产生变形,设计时需加强此位置的刚度。研究为块状食品包装生产线上的拾放工序的自动化提供一种解决方案,为三自由度并联机器人的结构设计提供理论分析基础。Most of China’s food packaging industry still relies on labor, especially the repetitive work of pick-and-place, relying on manual work was not only intensive, but also unsanitary. Therefore, a high-speed and stable pickup robot was urgently needed to replace the artificial based on the analysis of the technical requirements of the block food automatic packaging production line, a 3-DOF parallel robot was designed, the basic structure and the design of the main components were introduced, and the modal analysis of the whole robot was made by using Workbench module of ANSYS. The natural frequency of the robot was obtained, and the robot was prone to resonance between the frequency of 80-121 Hz. According to the mode diagram, the position of Hooke joint on the robot’s motion hinge was most prone to deformation, and the rigidity of this position should be strengthened during design. A solution for the automation of picking up and dropping process in the block food packaging production line was made, to provide a theoretical basis for the structural design of the 3-DOF parallel robot.

关 键 词：食品 拾放 并联机器人 模态分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]