重载水平多关节装卸机器人设计与研究  

Design and Research of Heavy Horizontal Multi-joint Loading and Unloading Robot

作　　者：谢冰[1] XIE Bing

机构地区：[1]沈阳新松机器人自动化股份有限公司,辽宁沈阳110168

出　　处：《今日自动化》2024年第5期81-83,共3页Automation Today

摘　　要：文章针对安装高度空间有限的重型货物搬运问题,设计了一种重载水平多关节装卸机器人。为减小高度空间占用,该机器人结构采用大臂小臂等高串联的形式和钢丝绳卷扬形式的升降轴;为扩大小臂的回转范围,设置了随动传动机构的辅助臂。同时,对装卸机器人的控制系统进行了设计,并根据不同极限工况下的受载情况,对整机进行了有限元分析。结果表明,最大应力发生在工况一时辅助臂上,最大值为199.8MPa。最大变形量发生在工况一时,节点最大综合位移为35mm,机器人结构设计合理。In order to solve the problem of heavy cargo handling with limited installation height and space,a heavy horizontal multi-joint loading and unloading robot was designed.In order to reduce the height space occupation,the robot structure adopts the form of contour series of large arm and small arm and the lifting shaft in the form of wire rope winch;In order to expand the slewing range of the small arm,an auxiliary arm of the follow-up transmission mechanism is arranged.At the same time,the control system of the loading and unloading robot is designed.According to the load under different extreme working conditions,the finite element analysis of the whole machine was carried out.The analysis results show that the maximum stress occurs on the auxiliary arm under condition 1,and the maximum value is 199.8MPa.The maximum deformation occurs in case 1,and the maximum comprehensive displacement of the node is 35mm.The structure of the robot is reasonably designed.

关 键 词：重载 多关节机器人 机械结构 有限元 

分 类 号：TH24[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]