基于RobotStudio的齿轮减速器虚拟装配工作站仿真研究  

Simulation Research on Virtual Assembly Workstation of Gear Reducer Based on RobotStudio

作　　者：王南山[1] 蔡娇坤 乔嘉璐 张逍洋 Wang Nanshan;Cai Jiaokun;Qiao Jialu;Zhang Xiaoyang(School of Mechanical Engineering,Taiyuan University of Science and Technology,Taiyuan 030024,China)

机构地区：[1]太原科技大学机械工程学院,太原030024

出　　处：《机电工程技术》2024年第10期167-171,共5页Mechanical & Electrical Engineering Technology

基　　金：山西省基础研究计划面上项目(202303021211168);山西省高等学校科技创新计划项目(2022L293);太原科技大学科研启动基金资助项目(2022034)

摘　　要：齿轮减速器装配是矿山机械装备制造中的重要生产环节之一,针对矿用大型齿轮减速器装配工序复杂、人工装配作业劳动强度大、自动化程度不足等实际突出问题,以二级圆柱齿轮减速器虚拟装配为研究对象,利用三维建模软件和RobotStudio仿真平台搭建了齿轮减速器虚拟装配仿真工作站。根据齿轮减速器零部件装配工艺流程,基于RobotStudio仿真环境确定了以ABB机器人为主的齿轮减速器虚拟装配空间布局,配置了所需的I/O信号,创建Smart组件以实施装配仿真模拟,进行轨迹规划、程序编制、仿真调试并且优化虚拟装配路径。通过对工作站进行碰撞检测和TCP跟踪,进行数据对比分析,验证了工作站可行性与准确性。该仿真设计为矿用大型减速器智能化装配提供了重要工程参考,对于矿山机械装备的智能制造及智慧化发展具有重要的指导意义。Gear reducer assembly is one of the important production links in the manufacturing of mining machinery and equipment.In view of the practical problems such as complex assembly process of large gear reducer for mining,high labor intensity of manual assembly operation,insufficient degree of automation,etc.,the virtual assembly of two-stage cylindrical gear reducer is taken as the research object,and 3D modeling software and RobotStudio simulation platform are used to build a gear reducer virtual assembly simulation workstation.According to the assembly process of gear reducer parts,based on the RobotStudio simulation environment,the virtual assembly space layout of the gear reducer dominated by ABB robots is determined,the required I/O signals are configured,and the Smart components are created to implement assembly simulation,trajectory planning,programming,simulation debugging and virtual assembly path optimization.Through collision detection and TCP tracking of the workstation,the feasibility and accuracy of the workstation are verified by data and comparative analysis.The simulation design provides an important engineering reference for the intelligent assembly of large-scale reducer for mining,and has important guiding significance for the intelligent manufacturing and intelligent development of mining machinery and equipment.

关 键 词：齿轮减速器 RobotStudio 虚拟装配仿真 工作站 

分 类 号：TH132.46[机械工程—机械制造及自动化]