轮足式包装搬运机器人减振装置设计  

Design of Damping Device for Wheel-footed Packaging Handling Robot

作　　者：贾宏丽 辛洪兵[1] 周顺豪 JIA Hong-li;XIN Hong-bing;ZHOU Shun-hao(School of Artificial Intelligence,Beijing Technology and Business University,Beijing 100048,China)

机构地区：[1]北京工商大学人工智能学院,北京100048

出　　处：《包装工程》2022年第15期315-321,共7页Packaging Engineering

基　　金：北京市教育委员会科技计划(KZ201210011012)。

摘　　要：目的为了降低轮足式包装搬运机器人在仓储运输等工作过程中受到振动冲击时对工作性能的影响,实现轮腿结合处的减振功能需求。方法提出一种油压缓冲器与机械减振装置相结合的设计方案,分别用能量法和有限元法分析减振装置中主要弹性元件的刚度系数,比较采用不同结构弹性元件条件下驱动轮的刚度特性。结果设计了具有油压缓冲器与平面S形弹性片的轮足式包装搬运机器人驱动轮机构,并进行了样机的轮式移动实验和环境冲击实验。实验过程中机器人的本体运动幅度波动很小,运行平稳,表明轮足式包装搬运机器人减振装置能有效地减少落地冲击,降低环境对包装件的物理冲击,验证了该减振装置设计的合理性与实用性。结论该减振装置设计方案可以有效地减少轮足式包装搬运机器人在工作过程中受到的振动冲击,减小环境对包装件的物理作用,提高机械本体与电气元件的安全性,使它的工作性能更加稳定。The work aims to reduce the effect of wheel-footed packaging handling robot on working performance un-der the vibration impact during storage and transportation and meet the demand for vibration damping at the junction of wheel and leg.A design scheme that combined a hydraulic buffer and a mechanical damping device was proposed.The energy method and the finite element method were used to analyze stiffness coefficients of main elastic elements in the damping device.The stiffness characteristics of drive wheel under condition of different elastic elements were compared.A drive wheel combining the hydraulic buffer and the S-shaped elastic sheet was designed for the wheel-footed packaging handling robot.Then,the wheel movement experiment and environmental impact experiment of the prototype were car-ried out.During the experiments,the robot fluctuated very little in motion amplitude and ran smoothly,which indicated that the damping device of wheel-footed packaging handling robot could effectively reduce dropping impact,and lower physical impact of environment on the packaging.Thus,the rationality and practicability of the damping device were ve-rified.The design scheme of damping device can effectively reduce the vibration impact of the wheel-footed packaging handling robot during working process and lower the physical effect of environment on packaging and can also improve the safety of the mechanical body and electrical components,thus making working performance more stable.

关 键 词：轮足式包装搬运机器人 减振装置 缓冲器 驱动轮 

分 类 号：TB486[一般工业技术—包装工程] TH692[机械工程—机械制造及自动化]