吸盘头可自动更换的贴标机械手设计与分析  

Design and Analysis of Labeling Manipulator with Automatically Replaceable Suction Cup Heads

作　　者：张付祥 孙和盛 于得水 吴广 李俊慧 ZHANG Fuxiang;SUN Hesheng;YU Deshui;WU Guang;LI Junhui(School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang Hebei 050091,China;Hebei Qianjin Machinery Factory,Shijiazhuang Hebei 050035,China;Shijiazhuang Iron&Steel Co.,Ltd.,Shijiazhuang Hebei 050011,China)

机构地区：[1]河北科技大学机械工程学院,河北石家庄050091 [2]河北前进机械厂,河北石家庄050035 [3]石家庄钢铁有限责任公司,河北石家庄050011

出　　处：《机床与液压》2024年第10期123-127,133,共6页Machine Tool & Hydraulics

基　　金：河北省重点研发计划项目(22311802D);石家庄市科技计划项目(226080477A)。

摘　　要：针对贴标机器人对不同尺寸棒材端面贴标时需人工更换吸盘头的问题,设计一吸盘头可自动更换的贴标机械手。设计由可更换式吸盘头和吸盘头安装座组成的贴标机械手机械结构;根据工作过程,搭建用于标签粘贴的真空吸附回路和吸盘头自动更换回路;通过ANSYS建模,对提出的20种吸盘开孔方案进行仿真分析,初步选取8种吸盘头开孔方案;最后对初选开孔方案进行100次吸附实验。结果表明:孔数M=4、孔径D=6 mm、孔距s=5 mm的吸盘开孔方案标签吸附效果最优。文中设计的贴标机械手不仅可根据不同尺寸棒材自动更换吸盘头而且可实现标签的稳定吸附,十分契合贴标机器人自动化设计需求。In order to solve the problem of manually changing the suction cup head when applying labels to the end face of different sizes of bars,a labeling robot with an automatically replaceable suction cup head was designed.The mechanical structure of the labeling robot was designed,which consisted of a replaceable suction cup head and a suction cup head mount;the vacuum adsorption circuit for label application and an automatic suction cup head replacement circuit were built according to the working process;20 kinds of suction cup opening schemes were analyzed through ANSYS modeling,and 8 kinds of suction cup head opening schemes were initially selected;finally,100 times adsorption experiments were carried out on the primary selection of the hole opening scheme.The experimental results show that the suction cup opening scheme with the number of holes M=4,hole diameter D=6 mm and hole distance s=5 mm has the best label adsorption effect.The labeling robot designed can not only change the suction cup head automatically according to different si-zes of bars,but also achieve stable label adsorption,which is very suitable for the design requirements of the labeling robot automation.

关 键 词：机械手 自动更换 真空吸盘 有限元分析 

分 类 号：TH12[机械工程—机械设计及理论]