汽车冲压高速线双臂机械手的抖动问题研究

Research on Shaking of Double Mechanical Arms in Automobile Pressing High-Speed Line

汽车冲压线自动化技术是提升企业生产效能并保证产品质量稳定性的关键。本文针对汽车冲压高速线双臂机械手在高速运行过程中的抖动问题,研究了机械手伺服控制增益参数优化,调节皮带轮皮带张力以及传动皮带轮支撑结构优化设计等方法。研究结果表明,在传动皮带轮双支撑结构模式下,双臂机械手可满足15 SPM的最大生产节拍,抖动幅度控制在±5 mm内且机械手减速机未出现漏油现象。经强度校核计算,机械手的轴承寿命、支架强度等均满足安全性要求。

The automatic pressing line of automotive manufacturing industry improves the production efficiency and ensures the stability of product quality.For the shaking problem of double mechanical arms in automobile pressing high-speed line,this paper researches on optimization the gain parameters of the servo control for mechanical arm,pulley belt tension and desirable design of pulley support mechanism.The results are as follows,in the case of additional support mechanism for the pulley,the maximum production rhythm of 15 SPM can be achieved,the shaking range of double mechanical arms is controlled within±5 mm,and no oil leakage for the reducer.Moreover,strength verification results display that working life of the bearing and strength of the additional support mechanism all meet safety factor requirements.