木门堆垛机器人真空吸附装置设计与仿真分析  

Design and Simulation Analysis of Vacuum Adsorption Device for Wood Door Stacking Robot

作　　者：赵明 刘送永[1] 姚遥 顾聪聪 ZHAO Ming;LIU Songyong;YAO Yao;GU Congcong(School of Mechatronic Engineering,China University of Mining and Technology,Xuzhou Jiangsu 221116,China;Nantong Yuetong CNC Equipment Co.,Ltd.,Nantong Jiangsu 226000,China)

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221116 [2]南通跃通数控设备股份有限公司,江苏南通226000

出　　处：《机床与液压》2021年第23期1-6,共6页Machine Tool & Hydraulics

基　　金：国家重点研发计划(2018YFB1308303)。

摘　　要：为满足定制化木门生产线的要求,设计一种通用程度高、吸附性能好的真空吸附装置。分析真空吸附装置的结构和原理,完成机械结构和吸附系统的设计。对木门的吸附过程进行理论分析;利用ANSYS对真空吸附装置进行有限元分析;对木门的堆垛过程进行运动仿真分析。求得吸附木门所需的最小理论吸力;得出吸附50 kg木门时真空吸附装置的应力应变情况及吸附装置的前6阶模态;得出堆垛过程大臂、小臂、真空吸附装置的位移、速度等特性曲线。结果表明:真空吸附装置最大应力小于材料的屈服强度,且变形较小、结构稳定,但吸附装置的最大固有频率接近机器人电机的回转频率,易产生共振。通过仿真模拟木门堆垛机器人的运动情况,并获得运动特性参数。研究结果为定制化木门生产线实际作业提供参考。In order to meet the requirements of customized wooden door production line, a kind of vacuum adsorption device with high universality and good adsorption performance was designed. The structure and principle of vacuum adsorption device were analyzed, and the design of mechanical structure and adsorption system was completed. The adsorption process of wooden door was analyzed theoretically;the finite element analysis of vacuum adsorption device was carried out by using ANSYS;the stacking process of wooden door was simulated and analyzed. The minimum theoretical suction force required for adsorption of wooden door was obtained;the stress-strain situation of vacuum adsorption device and the first six modes of adsorption device when adsorping 50 kg wooden door were obtained;the displacement and velocity characteristic curves of boom, jib and vacuum adsorption device were obtained. The results show that the maximum stress of the vacuum adsorption device is less than the yield strength of the material, and the deformation is small and the structure is stable, but the maximum natural frequency of the adsorption device is close to the rotation frequency of the robot motor, which is easy to produce resonance. The motion of wooden door stacking robot was simulated and the motion characteristic parameters are obtained. The research results provide reference for the actual operation of customized wooden door production line.

关 键 词：真空吸附装置 木门堆垛机器人 运动仿真 

分 类 号：TB486.2[一般工业技术—包装工程]