圆柱内壁工件的内撑式抓取与装配机械手设计

根据叶蜡石块生产压机特定的工作要求,设计了一种用于圆柱面内壁工件作业的内撑式抓取与下压装配机械手。该机械手主要包括内撑式三爪指系统和一个筒状手掌,手指系统与筒状手掌之间采用弹性连接;手指系统可以在装配作业中回缩与内藏于手掌内,以避让成型模腔中心的凸模。对机械手的结构与工作原理进行了介绍,对机械手关键参数的设计(包含内撑夹持力、稳定夹持物料转运条件、气缸驱动力的限制等)进行了论述。仿真分析与实验结果表明,该机械手可以满足特定作业对象的工作要求。相关研究为自动化装置的作业机械手的设计提供了新思路与实践。

Design of a Manipulator for the Inner Bracing Grasping and Assembling of the Workpiece with Cylindrical Inner Wall

According to the specific working requirements of a press for producing pyrophyllite block,the manipulator for the grasping and pressing down assembling of the workpiece with cylindrical inner wall using an inner bracing method is designed.The manipulator mainly consists of an inner bracing three claws finger and a tubular hand palm,and the finger system is flexibly connected with the tubular hand palm.The fingers can be retreated and hided in the tubular hand palm when the manipulator makes assembly work for avoiding a male mould at the chamber center of a pressing mould.The structure and working principle of the manipulator are introduced,and the design for the key parameters of the manipulator,including the clamping force of inner bracing,stable transfer conditions for clamping the workpiece,the force restrictions for cylinder driving are expounded.Simulation analysis and experimental results show that the manipulator can meet the requirements of specific operating objects.Relevant research provides new ideas and practices for the design and improvement of the operating manipulator of the automatic device.