微小零件聚拢分离柔性振动供料器设计

Design of Flexible Vibrating Feeder for Gathering and Separating Tiny Parts

针对工业生产和装配中零件上料易发生堆叠现象,出现零件难以被视觉识别以及难以被机器人抓取的问题,课题组根据有限元分析设计了具有零件聚拢和分离功能的柔性振动供料器。将电磁作动器作为单一动力源设计了硬件结构;根据模态分析结果设计了供料器料盘的尺寸,选择了合适的材质;提出了基于料盘模态振型的零件聚拢分离控制方法;采用C#窗体技术和CANopen协议,设计了供料器上位机控制软件。实验结果表明:该柔性振动供料器具有明显零件聚拢和分离效果,可有效分离堆积零件,提高视觉定位和机器人抓取效率。

Aiming at the problem that parts are difficult to be visually recognized and grasped by robots due to parts stacking during industrial production and assembly,a design of a flexible vibrating feeder for parts gathering and separation based on finite element analysis was proposed.The hardware structure was designed with the electromagnetic actuator as a single power source;the size of the feeder tray was designed and the suitable material was selected according to the results of modal analysis;a parts gathering and separating control method was designed based on the modal shape of the tray;C#form technology and CANopen protocol were used to design the feeder host computer control software.Experimental results show that the flexible vibrating feeder has obvious gathering and separation effects of parts and effectively separate the stacked parts,which improves the efficiency of visual positioning and robot grasping.