| 高效重载码垛机器人末端执行器力学特性分析 |
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| 引用本文： | 贾继光,刘送永,陈毅,赵明.高效重载码垛机器人末端执行器力学特性分析[J].包装工程,2020,41(9):155-160. |
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| 作者姓名： | 贾继光 刘送永 陈毅 赵明 |
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| 作者单位： | 中国矿业大学 机电工程学院，江苏 徐州 221116,中国矿业大学 机电工程学院，江苏 徐州 221116,中国矿业大学 机电工程学院，江苏 徐州 221116,中国矿业大学 机电工程学院，江苏 徐州 221116 |
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| 基金项目： | 国家重点研发计划（2018YFB13080300） |
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| 摘 要： | 目的为了提高码垛生产线的效率,实现高效重载码垛的功能,设计一种具有大负载能力的末端执行器。方法详细分析该末端执行器的结构设计及原理,并完成其三维模型的建立与设计。对快速定位机构、重载夹紧机构进行运动学分析及计算,并建立机构的运动学参数模型。利用ADAMS对不同楔块斜角的重载夹紧机构进行动力学仿真分析。结果获得了45°,30°,15°楔块斜角对应的楔块和顶板的力、位移、速度、加速度特性曲线;分析得知楔块斜角在15°左右时,末端执行器具有较好的力学特性。结论该末端执行器能够满足工作要求,对木板有较小的冲击破坏,能够提高码垛的效率及稳定性。
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| 关 键 词： | 码垛机器人 末端执行器 结构设计 动力学仿真 |
| 收稿时间： | 2019/9/17 0:00:00 |
| 修稿时间： | 2020/5/10 0:00:00 |
Mechanical Characteristics of End-effector of High-efficiency Heavy-load Palletizing Robot |
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| JIA Ji-guang,LIU Song-yong,CHEN Yi and ZHAO Ming.Mechanical Characteristics of End-effector of High-efficiency Heavy-load Palletizing Robot[J].Packaging Engineering,2020,41(9):155-160. |
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| Authors: | JIA Ji-guang LIU Song-yong CHEN Yi and ZHAO Ming |
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| Affiliation: | School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China,School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China,School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China and School of Mechanical and Electrical Engineering, China University of Mining and Technology, Xuzhou 221116, China |
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| Abstract: | The work aims to design an end-effector with large load capacity, in order to improve the efficiency of pal-letizing production line and realize the function of high-efficiency heavy-load palletizing. The structural design and principle of the end-effector were analyzed in detail, and its 3D model was established and designed. Kinematics analysis and calculation of fast positioning mechanism and heavy-load clamping mechanism were carried out, and the kinematics pa-rameter model of the mechanism was established. ADAMS was used to simulate and analyze the dynamics of heavy-load clamping mechanism with different wedge angles. The force, displacement, velocity and acceleration characteristic curves of wedge and roof corresponding to wedge angle of 45°, 30° and 15° were obtained. The analysis showed that the end-effector had good mechanical properties when the wedge angle was about 15°. The end-effector can meet the working requirements and has little impact damage to the wood slab, which can improve the efficiency and stability of palletizing. |
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| Keywords: | palletizing robot end-effector structural design dynamic simulation |
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