狭小空间袋装货物机器臂设计  

A Design of Bag Cargo Arm for Small Space

作　　者：谢隽贤 程鹏 李维 旦增罗杰 吕海涛 XIE Junxian;CHENG Peng;LI Wei;DAN Zengluojie;LV Haitao(School of Mechanical and Electrical Engineering,Chengdu university of technology,Chengdu,Sichuan 610059;Sichuan communications construction group co.ltd,Chengdu,Sichuan 610059;Xizang autonomous region special equipment testing institute,Lasa,Xizang 850000)

机构地区：[1]成都理工大学机电工程学院,四川成都610059 [2]四川省交通建设集团股份有限公司,四川成都610059 [3]西藏自治区特种设备检测所,西藏拉萨850000

出　　处：《绵阳师范学院学报》2021年第8期41-45,共5页Journal of Mianyang Teachers＇ College

基　　金：绵阳市科技局科研项目(2019YFZJ021);绵阳师范学院项目(QD2017A005).

摘　　要：为了解决在摆满货物仅在上部留有狭小空间的车皮里取出货物的机械装置问题.考虑到从车厢等狭小空间依次取出货物来,并放置在托盘上的整个机械臂的运动过程中,有两个极端的位置,对结构强度威胁最大.本文运用SolidWorks三维软件对整体结构在两种情形下进行建模,并且通过ANSYS Workbench对机械臂的结构进行有限元分析,研究机械臂在实际工况下的应力、应变和变形情况.并通过静力学强度分析,结果得到了机械臂所选的材料和强度满足要求,同时结合形变的云图,发现结构的变形量很小,满足设计的需求.The mechanism needed to be designed to get the goods out of the skin of the car,which was full of goods with only a small space at the top,where the goods are taken out in turn and placed on the tray.Considering that there are two extreme positions in the whole movement process of the manipulator arm,which pose the greatest threat to the structural strength,the SolidWorks 3D software was used to model the overall structure in two situations.The finite element analysis of the structure of the manipulator was carried out through ANSYS Workbench to study the stress,strain and deformation of the manipulator under actual working conditions.The static strength analysis showed that the selected material and strength of the manipulator meet the requirements.At the same time,combining with the cloud image of deformation,it is found that the deformation of the structure is very small,which meets the design requirements.

关 键 词：机械臂 结构设计 狭小空间 有限元法 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]