接触网腕臂预配套管零件供料系统设计与研究  

Design and research on the feeding system of theparts of the catenary wrist arm pre-matching tube

作　　者：吴宗庆 沙杰[1] 齐光宇 席伟伟 李金洋 胡森龙 Wu Zongqing;Sha Jie;Qi Guangyu;Xi Weiwei;Li Jinyang;Hu Senlong(School of Mechanical and Electrical Engineering,Henan University of Technology, Henan Zhengzhou, 450001, China)

机构地区：[1]河南工业大学机电工程学院,河南郑州450001

出　　处：《机械设计与制造工程》2022年第2期115-120,共6页Machine Design and Manufacturing Engineering

摘　　要：结合铁路接触网腕臂预配过程,基于某企业的腕臂预配全自动化要求,设计开发了腕臂套管零件自动供料系统。该系统采用六轴工业机器人,与工件物料库、装配工位有机结合,通过设计机器人机械手、料库台置具、落料工位(腕臂预配的装配工位),并基于控制过程构建了腕臂套管零件自动供料系统的控制系统,实现对不同类型、不同尺寸工件的抓取和自动上、下料。同时,介绍一种离线规划与在线示教相结合的机器人示教编程方法,降低了示教内容的复杂度,有效节省了在线示教所占用的生产时间和现场调试时间。Combined with the pre-configuration process of the railway catenary arm and arm,and based on the fully automated requirements of an enterprise's arm pre-configuration,an automatic feeding system for the arm sleeve parts of the arm is designed and developed.The system adopts a six-axis industrial robot,which is organically combined with the workpiece material warehouse and assembly station.The control system of the automatic feeding system of the wrist arm sleeve parts is adopted,so as to realize the grasping and automatic loading and unloading of workpieces of different types and sizes.At the same time,a robot teaching programming method that combines offline planning and online teaching is introduced,which reduces the complexity of teaching content and effectively saves the production time and on-site debugging time occupied by online teaching.

关 键 词：铁路接触网 腕臂预配 工业机器人 上下料单元 示教编程 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]