机器人柔性上下料系统设计与应用

Application and Design of Robot Flexible Upper and Lowering System

为实现在搬运上下料工位的小批量、多品种混线柔性自动化生产的功能,提出了一种可靠性高、稳定性强并具有切换多样性和灵活性的机器人柔性上下料系统。以在烤炉工位散热器上下料搬运机器人及其抓手为研究对象,简要介绍了实际产线的应用工况,并分析产品的材料、特征、精度等参数的设计需求;重点研究了机器人抓手和末端快换装置的设计,阐述了机械机构、控制系统的设计与实现,并通过散热器生产现场实际应用实践。结果表明,机器人柔性上下料系统可进行2种产品混线生产,抓取独立浮动可吸收产品的制造误差,满足了散热器搬运使用要求,从而验证了机器人柔性上下料系统设计的正确性和可行性。研究结果具有较高的实用价值,为后续机器人柔性上下料系统市场推广奠定了基础。

In order to realize the function of small batch,multi-variety mixed line flexible automatic production in the handling and unloading stations,a robot flexible loading and unloading system with high reliability,strong stability,and switching diversity and flexibility was proposed.Taking the loading and unloading robot and its gripper on the radiator of the oven as the research object,the application conditions of the actual production line were briefly introduced,and the design requirements of the product′s materials,characteristics,accuracy and other parameters were analyzed.The focus was on the design of the robot gripper and the end quick-change device,and the design and realization of the mechanical mechanism and control system were explained,and the actual application practice of the radiator production site was adopted.The results show that the robot flexible loading and unloading system can carry out the mixed line production of two kinds of products,and the independent floating can absorb the manufacturing error of the product,which meets the requirements of radiator handling and use,thus verifying the correctness and feasibility of the design of the robot flexible loading and unloading system.The research results have high practical value,and laid the foundation for the subsequent market promotion of the robot flexible loading and unloading system.