含四杆机构单元的重载转运机器人构型综合

Configuration Synthesis of Heavy-Duty Transfer Robot with Four-Bar Mechanism Unit

针对用于轴类物料抓取及卸载的重载转运机器人机构形式单一、转运范围局限大等问题,进行了重载转运机器人新构型的研究。首先分析了重载转运机器人机构的结构特点和工作原理,发现含有四杆机构单元的重载转运机器人具有灵活性高、承载能力大等优势,为构型综合和新方案优选提供依据。其次基于图论对只含转动副的平面机构进行构型综合,得到七杆、九杆机构拓扑胚图,利用胚图插点法对拓扑胚图进行插点,建立拓扑图,进而转化成对应的运动链,得到构型图谱。然后根据重载转运机器人机构中的四杆机构单元和功能构件,对拓扑图进行特定化标记,提出重载转运机器人优选条件,分析和优选特定化标记的拓扑图,得到其最佳构型。最后,利用Adams软件对一种优选机构进行仿真分析,结果表明,该机构在平面运动过程中可以同时实现远距离抓取和大范围俯仰运动,从而验证了该机构构型设计的合理性。

A new configuration is developed to address the problems of single mechanism and limited transfer range of the heavy-duty transfer robot used for shaft material grasping and transfer.Firstly,the structural characteristics and working principle of the heavy-duty transfer robot mechanism are analyzed.It is found that heavy-duty transport robot with four-bar mechanism unit has the advantages of high flexibility and large carrying capacity.Secondly,the configuration synthesis of the planar mechanism containing only rotating sub is carried out based on the graph theory,and the topological embryo diagram of the seven-rod and ninerod mechanism is obtained.The topological embryo graph was interpolated by the embryo graph interpolation method,and the topological graph was established,which was then transformed into the corresponding motion chain to obtain the configuration map.Then,according to four-bar mechanism unit and the functional components requirements in the heavy-duty transfer robot mechanism,the topology map is specifically marked.The optimization conditions of the heavy-duty transfer robot are proposed,and the topological map of the specific markers is analyzed and optimized.The optimal configuration is obtained.Finally,a preferred mechanism is simulated and analyzed by Adams software.The results show that the mechanism can realize both long-distance grasping and large-scale pitching motion in the process of plane motion.The rationality of the mechanism configuration design is verified.