波形梁护栏安全抓取灵巧手设计  

Design of Safety Grasp Dexterous Hand for Wave Beam Guardrail

作　　者：杨童 顿向明 谢海涛 李双祥 赵宏程 山磊 YANG Tong;DUN Xiangming;XIE Haitao;LI Shuangxiang;ZHAO Hongcheng;SHAN Lei(Yunnan Transportation Science Research Institute Co.,Ltd.,Kunming 650011,China;School of Aeronautics and Astronautics Aerospace,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]云南省交通科学研究院有限公司,云南昆明650011 [2]上海交通大学,航空航天学院,上海200240

出　　处：《微型电脑应用》2024年第9期37-39,44,共4页Microcomputer Applications

基　　金：云南省交科院自主立项:公路波形梁钢护栏机械化布放安装随车共融设备设计、加工与试验(JKYZLX-2020-07);中央高校基本科研业务费专项资金资助,GF基础科研项目:FHZ目标柔性附着任务规划与自主控制技术(JCKY2021110B134)。

摘　　要：针对高速公路护栏板安装过程机械化的需求,设计一种气动-磁吸附联合作用的灵巧机械手。该装置由手指式夹持机构和提升翻转手腕两部分组成,通过优化配置磁吸附模块和气动执行机构,实现对护栏板的容差适应,在电磁铁将护栏板提起的同时,机械卡爪也将护栏板抓紧,达到双重保障,通过反复测试实验,验证了该手爪能够保障护栏板操作过程的抓取安全与运动灵活。In order to meet the need of mechanization in the installation process of highway guardrail plate,a kind of dexterous manipulator with combined pneumatic and magnetic adsorption is designed.The device is composed of two parts:a finger-type clamping mechanism and a lifting and turning wrist.By optimizing the configuration of magnetic adsorption module and pneumatic actuator,the tolerance adaptation to the guardrail plate is realized.When the guardrail plate is lifted by the electromagnet,the mechanical clamping claw also grabs the guardrail plate to achieve double protection.It is proved that the gripper can guarantee the safety of grasping and the flexibility of movement during the operation of the guardrail plate.

关 键 词：护栏板 安全抓取 灵巧手 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]