重载多关节石材加工机器人结构设计及仿真分析

Structural Design and Simulation Analysis of Heavy-duty Multi-joint Stone Processing Robot

针对我国石材加工企业设备智能化水平较低、结构粗糙、功能单一、加工效率低、多以一轴运动为主且只能完成一些简单的加工动作等问题。基于一种多关节减速机+旋转轴组合型的连接方式,提出一款重载多关节石材加工机器人。为验证其合理性与有效性,建立了重载多关节石材加工机器人的实体模型,利用ANSYS有限元分析软件对大臂和小臂的应力分布及形变位移进行仿真分析。在大臂和小臂右端圆柱面处施加约束,在大臂左端上部分和下部分沿Z轴负方向施加254.8 N和3350 N的面载荷,在小臂左端沿Z轴负方向施加2600 N的面载荷。仿真结果表明:大臂和小臂的最大应力发生处均出现在右端的轴承安装处,且大臂的最大应力值10.007 MPa,小臂的最大应力值12.528 MPa均远小于材料抗拉强度300 MPa。大臂的最大形变位移值为0.1037 mm,小臂的最大形变位移值为0.038 mm均较小。验证了机器人设计的合理性和有效性。

In response to the low level of equipment intelligence,rough structure,single function,low processing efficiency,and mainly relying on one axis movement and only able to complete some simple processing actions in China’s stone processing enterprises.A heavy-duty multi joint stone processing robot is proposed based on a type connection method combining a multi joint reducer and a rotating shaft.To verify its rationality and effectiveness,a solid model of a heavy-duty multi joint stone processing robot is established,and the stress distribution and deformation displacement of the upper and lower arms are simulated and analyzed using ANSYS finite element analysis software.Constraints on the cylindrical surfaces at the right end of the boom and forearm are applied,a surface load of 254.8 N and 3350 N along the negative Zaxis on the upper and lower parts of the left end of the boomare is applied,and a surface load of 2600 N along the negative Z-axis on the left end of the forearm is applied.The simulation results show that the maximum stress of the upper and lower arms occurs at the bearing installation on the right end,and the maximum stress value of the upper arm is 10.007 MPa,while the maximum stress value of the lower arm is 12.528 MPa,which is much lower than the material’s tensile strength of 300 MPa.The maximum deformation displacement value of the upper arm is 0.1037 mm,and the maximum deformation displacement value of the lower arm is 0.038 mm,both of which are relatively small.Verified the rationality and effectiveness of robot design.