圆柱内壁件下压装配机械手结构实现及弹簧参数优选  

Realization of Structure and Spring Parameter Optimization of a Manipulator for the Pressing Down Assembling of the Workpiece with Cylindrical Inner Wall

作　　者：王良文 张薇薇 穆亚林 王若澜 孟凡念 张继豪 Wang Liangwen;Zhang Weiwei;Mu Yalin;Wang Ruolan;Meng Fannian;Zhang Jihao(Henan Provincial Key Laboratory of Intelligent Manufacturing of Mechanical Equipment,School of Mechanical and Electrical Engineering,Zhengzhou University of Light Industry,Zhengzhou 450002,China;Ningbo Aux Electric Co.,Ltd.,Ningbo 315000,China;International Education College,Zhengzhou University of Light Industry,Zhengzhou 450002,China)

机构地区：[1]郑州轻工业大学机电工程学院,河南省机械装备智能制造重点实验室,河南郑州450002 [2]宁波奥克斯电气股份有限公司,浙江宁波315000 [3]郑州轻工业大学国际教育学院,河南郑州450002

出　　处：《机械传动》2021年第1期146-151,169,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金(52075500);河南省重点科技攻关项目(202102210086);郑州轻工业大学博士基金(2016BSJJ009)。

摘　　要：根据特定产品生产工艺要求,设计了一种用于圆柱内壁件作业的内撑式抓取与下压装配机械手。该机械手在手指系统与筒状手掌之间采用弹性连接。在高速作业过程中,这类弹性连接形成手指系统的残留振动。在对机械手结构设计思想与结构介绍的基础上,对机械手系统采用Adams运动仿真,分析了弹簧系统参数对手指系统的残留振动的影响,并对影响机械手振动特性的关键参数——连接弹簧的参数进行了优化选择。实际机械手的运行结果表明,该机械手结构与弹性参数的选择可以很好地满足特定对象的作业要求。According to the production process requirements of specific products,a manipulator for the grasping and pressing down assembling of the workpiece with cylindrical inner wall using an inner bracing method is designed.For this manipulator,the finger system is flexibly connected with the tubular hand palm.The flexible connection forms a residual vibration of the finger system during high-speed operation.Based on introducing the design idea and structure of the manipulator,the Adams motion simulation is adopted for the manipulator system to analyze the effects of spring system parameters on the residual vibration of the finger system.The key parameter affecting the vibration characteristics of the manipulator-the parameter of connecting spring is optimized and selected.The actual operation results of the manipulator show that the structure and spring parameters of the manipulator can well meet the operation requirements of the specific object.

关 键 词：圆柱面内壁工件 内撑式抓取 下压装配 机械手结构 系统振动 弹簧参数 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]