重心可调包装机械手导轨寿命分析

目的分析不同重心位置对包装机械手寿命的影响,在不改变包装机械手原整体结构前提下,提高包装机械手使用寿命。方法使用数学方法,计算并分析带负载的一自由度包装机械手在直线运动滚动导轨副中的水平运动。设定带载包装机械手在运动机构中的多个分布位置,并简化定位机构的负载重心,通过编制封装的面向对象语言C++计算程序,计算出二导轨四滑块直线运动滚动导轨副负荷重心多个位置的理论额定寿命值。结果根据计算获得的位置,将包装机械手抓取负荷的重心位置利用PLC控制及参数调整,实现了抓取包装机械手负荷重心位置偏置。结论通过实际应用,验证了理论计算的可靠性与可行性,负载包装机械手使用寿命得到了提高。

Life-span Investigation on Packaging Manipulator with Load of Barycentre Adjustment of Rooling Guide

Objective The effects of different barycentre position on the life-span of the packaging manipulator were studied, and the life-span of the packaging manipulator was improved in the premise of not changing the packaging robot structure. Methods Using mathematical methods, the horizontal movement of the single freedom packaging robot with load in a linear motion rooling beraing system was calculated and analyzed. Multiple locations in motion mechanism were set for packaging robot with load, and the load barycentre of the positioning was simplified. Through the development of the package Object Oriented Programming C + + program, the rating life-span of multiple locations in the load barycentre of the linear motion rolling guide system with two tracks and four sliders was calculated. Results Based on the locations obtained by calculation, the barycentre of crawling load for the packaging robots was controlled by PLC and the parameters were adjusted. Biasing of load barycentre position for crawling packaging robots was realized. Conclusion Through practical application, the reliability and feasibility of theoretical calculation was verified, and the service life of the packaging robot with load was improved.