工字轮自动生产线搬运机械装置设计

Design of Automatic Production Line Handling Mechanism for the I-wheel

由于制造业的不断发展,工业机器人也从传统的焊接、喷涂作业向更广阔的作业范围扩展,其中在物料处理和搬运作业方面的发展尤为迅速。作为缠绕金属丝或钢丝绳的工字轮,依靠人工搬运不仅效率低而且成本高。以工字轮搬运机器人为研究对象,在比较各种搬运机器人结构设计的基础上,使用SolidWorks软件设计出了结构简单、控制方便、运动精度较高的龙门式直角坐标机器人。根据抓取要求,选用并对机器人进行了气动机械爪的设计,同时分别对X、Y、Z轴进行了传动方式确定。通过对设计及计算的分析,寻找出本设计存在的薄弱环节,对相应部分作进一步的校核计算,对不合理、不达标的部分进行修改和重新设计,以保证设计的可靠性、可行性与稳定性。最后对所设计机器人的总支撑柱、X轴横梁、Y轴横梁、Z轴支撑板进行了有限元分析。

Due to the continuous development of the manufacturing industry,industrial robots have expanded from the traditional welding and spraying operations to a broader field of operations,of which material handling and transporting operations have developed particularly rapidly.The manual handling of I-wheels for winding metal wire or steel wire rope is inefficient and costly.With an I-wheel handling robot as a research object,based on the comparison of various kinds of robots in terms of structural design,a gantry-type cartesian robot featuring a simple structure,easy control and high movement accuracy,was designed using SolidWorks software.According to the grabbing requirements,a pneumatic mechanical claw was selected and designed for the robot,and the drive system for all X,Y,Z axis was determined respectively.Through the analysis of design and calculation,the weak links existing in the design were found out,with the corresponding parts further verified and calculated,the irrational and substandard parts modified and redesigned to ensure the reliability,feasibility and stability of design.Finally,a finite element analysis of the overall supporting frame,X-axis beam,Y-axis beam and Z-axis support board was made.