一种新型多功能码垛机械手的设计与分析  

Design and analysis of new multi-functional stacking manipulator

作　　者：陈明方[1] 戚峰苹 张凯翔 葛天佑 郑仕高 张永霞 CHEN Mingfang;QI Fengping;ZHANG Kaixiang;GE Tianyou;ZHENG Shigao;ZHANG Yongxia(Faculty of Mechanical and Electrical Engineering,Kunming University of Science and Technology,Kunming 650500)

机构地区：[1]昆明理工大学机电工程学院,云南昆明650500

出　　处：《机械设计》2023年第6期1-9,共9页Journal of Machine Design

基　　金：国家自然科学基金(51965029);云南省重大科技专项(2017RA010)。

摘　　要：针对目前六轴码垛机器人的承重性差、成本高、维护较难且无法实现多功能一体等缺点,为了提高码垛机器人的承重性能,降低其制造及维护成本,实现多功能作业,文中结合曲柄滑块机构设计了一种多功能机械手,既可码垛,又可自动更换栈板。该机械手是对传统偏距曲柄滑块机构进行改进,将直曲柄换成L形曲柄,使曲柄能够过渡死点。通过已知参数对码垛机械手的连杆尺寸进行设定,对总体机构进行受力分析,用SolidWorks 2020对L形曲柄的不同λ角进行建模,经对比分析得出最合适L形曲柄的λ角,从而设计出整个码垛机械手模型,最后,将码垛机械手模型导入ANSYS Workbench 18软件进行受力变形分析,得到一种新型多功能实用码垛机械手。该设计极大地提高了改进后的机械手的承重性、通用性和稳定性,降低了其能耗比,实现了码垛与栈板都能搬运的功能。Aiming at the shortcomings of the current six-axis palletizing robot,such as poor bearing,high cost,difficult maintenance and unable to realize multi-function integration,in order to improve the load-bearing performance of the palletizing robot,reduce its manufacturing and maintenance costs,and realize multi-function operation,the paper combined with the crank slider mechanism designed a multi-function manipulator,which can not only palletizing but also automatically replace the pallet.The manipulator is to improve the traditional offset crank slider mechanism,the straight crank to L shaped crank,so that the crank can transition dead point.Through the known parameters of the palleting manipulator connecting rod size set,the overall mechanism for force analysis,with SolidWorks 2020 L-shaped crank different λ angle modeling,comparative analysis concluded that the most suitable L-shaped crank λ angle,so as to design the whole palleting manipulator model,Finally,the palletizing manipulator model was imported into ANSYS Workbench 18 for stress and deformation analysis,and a new multifunctional practical palletizing manipulator was obtained.The design greatly improves the load-bearing,universality and stability of the improved manipulator,reduces its energy consumption ratio,and realizes the function that palletizer and pallet can be carried.

关 键 词：码垛 栈板 曲柄滑块 死点 L形曲柄 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]