螺柱焊零件上料机械手结构设计与分析  

Structure Design and Analysis of Feeding Manipulator for Stud Welding Parts

作　　者：陈传旺 周光吉 韩世伟 郭峻松 殷勤 Chen Chuanwang;Zhou Guangji;Han Shiwei;Guo Junsong;Yin Qin(School of Mechanical Engineering,Chongqing University of Technology,Chongqing 400000,China;Chongqing Tiema Industry Group Co.,Ltd.,Chongqing 400000,China)

机构地区：[1]重庆理工大学机械工程学院,重庆400000 [2]重庆铁马工业集团有限公司,重庆400000

出　　处：《工程与试验》2023年第4期44-49,共6页Engineering and Test

基　　金：国家自然科学基金项目(52105245);四川省重大科技专项项目(2020ZDZX0003);重庆市自然科学基金面上项目(cstc2021jcyj-msxmX0303);重庆市教育委员会科学技术研究项目(KJQN202001147/KJQN201901107)。

摘　　要：某型车体螺柱焊工艺生产中需大量使用已装配的专用螺柱焊零件,目前主要由人工进行筛选、上料和装配,装配效率低、出错率高、人工劳动强度大,为此设计了一款用于螺柱焊零件自动化装配系统的上料机械手。基于装配系统结构与最优上料路径,对上料机械手进行了结构设计,基于虚拟样机技术构建了零部件三维模型。同时,利用ANSYS分析软件对关键承载零部件进行了有限元分析,获得其静力学变形结果和应变情况,并对整体结构进行了模态分析,获得其前6阶固有频率和模态振型。仿真结果表明,机械手具有良好的结构稳定性和强度、刚度性能,可应用于螺柱焊零件的平稳上料,为后续的工程应用样机研制奠定了基础。A large number of assembled special stud welding parts are needed in the production of a certain type of car body stud welding process.At present,it is mainly manually screened,loaded and assembled,so the assembly efficiency is low,the error rate is high,and the labor intensity is high.Therefore,a feeding manipulator for the automatic assembly system of stud welding parts is designed.Based on the structure of the assembly system and the optimal feeding path,the structure of the feeding manipulator is designed,and the three-dimensional model of the parts is built based on the virtual prototype technology.At the same time,ANSYS analysis software is used to carry out finite element analysis of the key bearing parts to obtain the static deformation results and strain conditions,and carry out modal analysis of the whole structure to obtain the natural frequencies and modal shapes of the first six orders.The simulation results show that the manipulator has good structural stability,strength and stiffness performance,and can be used in the stable feeding of stud welding parts,which lays a foundation for the development of subsequent engineering application prototype.

关 键 词：上料机械手 结构设计 有限元分析 模态分析 

分 类 号：TH122[机械工程—机械设计及理论]