多功能柔性机器人夹具的设计与应用

Design and Application of Multifunctional Flexible Robot Griper

为了解决搬运码垛机器人利用率低和更换夹具比较麻烦等问题,设计了一种多功能柔性自动切换机器人夹具,包括机架、夹取装置、吸取装置和驱动装置等。该夹具同时具有吸取功能和夹取功能,并可通过机械臂驱动夹具做三维运动及旋转。结合机器视觉识别,可在工作范围内对工件采用不同的方式进行夹取,实现一台机器人同时服务2种不同类型工件或2条生产线,大大提高了机器人的利用率。该夹具已应用在壁挂炉生产线的搬运机器人上,使得搬运码垛工人的数量从10人降低到1人,工人的劳动强度大幅度降低,约18个月收回投入成本,效果很好。

In order to solve the problem of low utilization rate of the palletizing robot and troublesome replacement of the griper,etc.,a multifunctional flexible automatic switching robot griper is designed,including rack,clamping device,suction device and driving device.The griper had both a suction function and a gripping function.The robot could drive the fixture to perform three-dimensional motion and rotation.Combined with machine vision recognition,the workpiece could be accessed in different ways within a certain range to realize simultaneous service of one robot.One robot couldserve two different types of workpieces or two production lines at the same time,greatly improving the utilization rate of the robot.The fixture had been applied to the wall-hung boiler production line.The number of palletized workers had been reduced from 10 to 1 person.The labor intensity of the workers has been greatly reduced.The input cost is recovered in about 18 months,and the effect is very good.