复合式手爪设计及应用

Design and Application of Compound Gripper

针对多规格、堆叠码放的重型液压叉车工件的上料需求,设计了一种面向桁架式上料机器人的复合式手爪。该复合式手爪由电磁铁吸盘与气动夹爪组成,具有抓取面自适应、抓取后机构自锁紧保护等特点。复合式手爪可灵活组合成适用不同规格工件的执行器,满足叉车类工件的抓取和搬运需求。论文分析了复合式手爪、复合式手爪组合执行器的结构及工作原理,以及执行器对叉车工件吸附提起和锁紧搬运的过程;对关键部件,利用ANSYS软件进行仿真分析,验证了夹爪结构的可靠性;并利用ADAMS软件对执行器在搬运工况下进行动力学仿真,得到上料过程的速度、加速度及手爪受力变化曲线,验证了复合式手爪组合执行器结构的稳定性和可靠性,满足设计要求。

A composite gripper for truss type loading robot is designed to meet the loading requirements of multi specification, stacked and stacked heavy hydraulic forklift workpieces. The composite gripper is composed of an electromagnet chuck and a pneumatic gripper, and has the characteristics of adaptive grasping surface, self-locking protection of the mechanism after grasping, etc. The compo-site gripper can be flexibly combined into actuators suitable for workpieces of different specifica-tions to meet the requirements of grasping and handling forklift workpieces. The paper analyzes the structure and working principle of composite gripper and composite gripper combined actuator, as well as the process of lifting and locking the forklift workpiece by the actuator. For the key com-ponents, the ANSYS software is used to simulate and analyze, and the reliability of the gripper structure is verified;The ADAMS software is used to simulate the dynamics of the actuator under the handling condition, and the change curves of the speed, acceleration and force on the gripper during the feeding process are obtained, which verifies the stability and reliability of the composite gripper combined actuator structure and meets the design requirements.