摘要
为了解决桁架机器人抓取范围有限且桁架机器人只能抓取行程所覆盖的空间,桁架机器人的抓取机构无法到达行程以外空间以及一些狭小空间,提出在桁架机器人Z轴下端加装典型组件,即摆动T轴。摆动T轴前端装有抓取机构,实现搬运工件的功能,解决桁架机器人因结构缺点而影响抓取范围的问题。对加装的摆动T轴进行模块化设计,抓取机构中气缸所用阀岛安装在T轴内部,传感器、气管在T轴与Z轴连接处均设置快插接头,减少桁架机器人安装周期,便于桁架机器人改造升级。针对行业内常用抓取机构进行优化,并对T轴结构件进行有限元分析,确保所设计的T轴结构件具有足够的刚度、强度。代入实际参数进行私服电机及减速机性能参数确定。分析抓取中心的运动学方程,得到抓取中心速度、加速度。
In order to solve the limited range of truss robot grabbing and truss robot can only grasp the space covered by the stroke,the grabbing mechanism of the truss robot can not reach the space outside the trip and some narrow spaces.In this paper,a typical component is installed at the lower end of the Z-axis of the truss robot,that is,the T-axis is oscillated.The front end of the oscillating T-axis is equipped with a grasping mechanism to realize the function of carrying the workpieces,and solves the problem that the truss robot affects the grasping range due to structural defects.Modular design of the installed swinging T-axis,the valve island used in the gripping mechanism is installed inside the T-axis,and the sensor and the air pipe are provided with a quick-connect joint at the T-axis and Z-axis connection,which reduces the installation period of the truss robot and facilitates.The truss robot was upgraded to optimize the commonly used gripping mechanism in the industry and perform mechanical analysis on the T-axis structural parts to ensure that the designed T-axis structural parts have sufficient rigidity and strength.And substitute the actual parameters to determine the performance parameters of the private service motor and reducer.The kinematics equation of the grasping center is analyzed,and the velocity and acceleration of the grasping center are obtained.
作者
赵健
齐关宇
于同春
ZHAO Jian;QI Guan-yu;YU Tong-chun(Special Robot BG,Shenyang SIASUN robotics automation Limited by Share Ltd,Shenyang 110027,China)
出处
《沈阳航空航天大学学报》
2019年第2期50-58,共9页
Journal of Shenyang Aerospace University
基金
智能制造综合标准化与新模式应用项目(工信部联装[2016]213号文-序号3-长飞光纤)
