物料码垛机械手结构设计与分析  

Structural design and analysis of material palletizing manipulator

作　　者：徐爱群 王博凝 XU Aiqun;WANG Boning(School of Mechanical and Energy Engineering,Zhejiang University of Science and Technology,Hangzhou 310023,Zhejiang,China)

机构地区：[1]浙江科技大学机械与能源工程学院,杭州310023

出　　处：《浙江科技大学学报》2024年第5期394-403,共10页Journal of Zhejiang University of Science and Technology

基　　金：浙江省“十四五”研究生教育改革项目(2023gerp293)。

摘　　要：【目的】根据物料搬运自动化的需求,设计一种具有码垛功能的桁架机械手。【方法】首先分析机械手的工作原理与工作需求,确定机械手的整体布局;然后确定关键结构件,通过静态力学分析确定主要承载横梁的结构设计,分析抓取组件的整体气路,计算吸盘的吸力与理论保持力;最后对机械手在极限位置、最大载荷情况下进行静态力学仿真分析,验证整体结构的可靠性,通过模态分析功能对机械手进行模态分析,提取机械手工作时的前8阶固有频率和振型,推断出不适合机械手的工作频率区间。【结果】抓取组件的真空吸盘吸力为589.05 N,机械手的最大静态位移量为0.175 mm,最大应力为56.36 MPa,符合抓取要求;在90~120 Hz频段工作时对机械手作业的影响较大,因此在实际操作过程中应避开这个频段,以保证工作时机械手的稳定性。【结论】本研究成果可为设计桁架机械手的控制系统提供理论依据。[Objective]In response to the demand of material handling automation,a kind of truss manipulator with palletizing function was designed.[Method]Firstly,the working principle and working demand of the manipulator were analyzed to determine its overall layout;then,with the determination of key structural components,the structural design of the main load-bearing beam was determined through static mechanical analysis to analyze the overall air circuit of the gripping component,and calculate the suction force of the suction cup and its theoretical retention force;finally,the static mechanical simulation analysis of the manipulator was carried out in the limiting position and under the maximal load condition to validate the reliability of the overall structure,and the modal analysis of the manipulator was conducted through the modal analysis function to extract the natural frequencies and vibration modes of the first eight orders of the manipulator's work,deducing the working frequency range that was not suitable for the manipulator.[Result]The suction force of vacuum suction cup of the gripping component is 589.05 N,the maximum static displacement of the manipulator is 0.175 mm,and the maximum stress is 56.36 MPa,meeting the requirements of gripping;it has a greater impact on the operation of the manipulator when it works in the frequency band of 90~120 Hz,and thus this band should be avoided in the actual operation process to ensure the stability of the manipulator when it works.[Conclusion]The results of this research can provide theoretical basis for designing the control system of truss manipulator.

关 键 词：桁架机械手 真空吸盘 结构分析 工作频段 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]