工业机器人限位缓冲块的设计及试验研究

Design and Experimental Study on Limit Buffer Block of Industrial Robot

针对传统工业机器人关节限位无法满足其在异常碰撞下的安全限位需要,提出了一种基于工业机器人关节处的限位缓冲块的设计计算方法。结合缓冲块具有良好应变能的特点,将关节机器人某一关节处的负载动能与该处缓冲块的应变能进行比较,设计对应缓冲块材质下的缓冲块结构尺寸。最后,对某一工业机器人进行试验验证,测试结果满足缓冲块的设计需求,可为机器人限位的安全性和结构设计的合理性提供参考。

In view of the traditional industrial robot joint limit can not meet it’s safety limit requirements under abnormal collision,a design and calculation method based on the limit buffer block at the joint of industrial robot is proposed.Considering that the buffer block has good strain energy,the load kinetic energy at a joint of the joint robot is compared with the strain energy of the buffer block at that position to design the buffer block structure size corresponding to the buffer block material.Finally,an industrial robot is tested,and the test results meet the design requirements of buffer block,which provides reference for the safety of robot limit and the rationality of structure design.