摘要
针对大负载码垛机器人关节传动精度的问题,对四关节码垛机器人第二轴关节传动结构中起传递扭矩作用的齿轮轴进行了研究。对机器人装配过程中影响工业机器人运行精度的潜在因素进行了归纳,提出了改善齿轮轴受力情况的改进方法,降低了工业机器人在运行过程中齿轮轴与RV减速机之间产生预压力的可能性;利用SolidWorks软件建立机器人三维模型,采用ANSYS、ADAMS软件对机器人第二轴关节传动结构进行了分析;增设了轴承用于齿轮轴导向与支撑,并进行了仿真分析,对改进后的样机进行了重复定位精度测试。研究及测试结果表明:改进后的结构可改善齿轮轴的受力情况,减少因装配工艺、零部件误差等因素对机器人运行精度的影响,对关节型机器人的结构设计具有一定的借鉴意义。
Aiming at the problem of joint transmission accuracy of heavy-duty palletizing robot,the gear shaft which played the role of transmitting torque in the joint transmission structure of the second axis of the four-joint palletizing robot was studied.The potential factors affecting the running accuracy of industrial robots in the process of robot assembly were summarized,and an improved method to improve the force condition of gear shaft was designed,which enabled the possibility of the pre-pressure between the gear shaft and the RV reducer was reduced during the operation of the industrial robot.The three-dimensional model of the robot was built with SolidWorks software,and the second axis joint transmission structure of the robot was analyzed with ANSYS and ADAMS software.A bearing was added to guide and support the gear shaft,and the simulation analysis was carried out.The repeated positioning accuracy of the improved prototype was tested.The results indicate that the improved structure can improve the force condition of the gear shaft,and reduce the influence of assembly process,parts error and other factors on the robot running accuracy.It can be used for reference in the structural design of the articulated robot.
作者
徐金章
王延飞
XU Jin-zhang;WANG Yan-fei(Department of Mechanical Engineering,Taian Technician College,Taian 271000,China)
出处
《机电工程》
CAS
北大核心
2020年第9期1089-1093,共5页
Journal of Mechanical & Electrical Engineering
基金
国家级高技能人才培训基地项目(鲁人社字〔2018〕199号)。
