锻压技术

大型闭式压力机单机自动化上下料机械手机械结构设计与仿真

英文标题：Mechanical structure design and simulation of single-machine automatic loading and unloading manipulator for large closed press

作者：于涛邓增阁郭涛李玉增闫家奇

单位：山东科技大学

关键词：压力机上下料机械手运动学仿真

分类号：TP241

出版年,卷(期):页码：2020,45(3):109-113

摘要：

以解决YT28-1030闭式压力机上下料问题为例，设计了单机自动化上下料机械手，通过SolidWorks对机械手进行三维建模，完成上下料机械手结构布局，并根据设计要求完成了对机械手的机械结构设计。并运用Adams软件对机械手进行运动学仿真，结果证明：该上下料机械手运动过程无明显冲击和振动。最后用ANSYS workbench对机械手主要受力部件进行受力分析，分析结果表明：其变形较小,符合设计要求。通过现场安装试验，对试验样机进行为期20天的现场调试，对调试阶段出现的问题进行改进，保证机械手工作的准确性，验证该机械手设计的合理性以及稳定性。研究结果表明：该机械手符合设计要求，能够正常工作。

A single machine automatic loading and unloading manipulator was designed to solve the problem of loading and unloading material for YT28-1030 closed press. Through SolidWorks, the manipulator was modeled in three-dimensions, the structure layout of the loading and unloading manipulator was completed, and mechanical structure design of manipulator was completed according to the design requirements. Furthermore, the kinetmatics simulation of manipulator was performed by software Adams. The result proves that there is no obvious impact and vibration during the movement of the loading and unloading manipulator. Finally, the force analysis of the main force-bearing parts for the manipulator was conducted by ANSYS Workbench. The results show that the deformation is small to meet the design requirements. Therefore, the rationality and stability of the manipulator design were verified by onset installation tests to adjust the test prototype for 20 days and improve the problems during the commissioning stage to ensure the work accuracy of manipulator. The result proves that the manipulator meets the design requirements and works normally.

基金项目：

于涛（1972-），男，博士，副教授 E-mail：yutaosang@163.com

参考文献：

［1］刘洋,邢建国.薄板件冲压自动上下料机械手的设计
［J］.青岛大学学报：工程技术版,2018,33(1):116-120.

Liu Y,Xing J G. Design of automatic loading and unloading manipulator for thin sheet parts
［J］. Journal of Qingdao University:Engineering & Technology Edition,2018,33(1):116-120.

［2］柳光涛,钟佩思,刘大志,等.数控转塔冲床上下料助力机械手设计与分析
［J］.机床与液压,2014,42(3):12-15.

Liu G T, Zhong P S, Liu D Z, et al. Design and analysis for loading/unloading manipulator of NC turret punch press
［J］. Machine Tool & Hydraulics,2014,42(3):12-15.

［3］济南二机床“大型全伺服冲压生产线示范工程”项目通过技术验收
［J］.锻压装备与制造技术,2018,53(4):5-6.

Jinan No.2 machine tool “large full servo stamping production line demonstration project” project passed technical acceptance
［J］. Forging Equipment and Manufacturing Technology,2018,53(4):5-6.

［4］申浩,李耀明,张煌,等.拉伸机专用上下料机械手的运动学研究
［J］.包装工程,2018,39(23):128-131.

Shen H,Li Y M,Zhang H,et al. Research on kinematics of special loading and unloading manipulator for stretcher
［J］. Packaging Engineering, 2018,39(23):128-131.

［5］霍洪鹏,解福祥,姜军生,等.QM-40SA机床上下料机器人结构仿真与试验
［J］.实验室研究与探索,2019,38(2):76-80.

Huo H P,Xie F X,Jiang J S,et al. Structural simulation and test of QM-40SA machine loading and unloading robot
［J］. Research and Exploration in Laboratory,2019,38(2):76-80.

［6］刘邦雄,李健,梁鹏,等.上下料机械手的运动学仿真
［J］.机械研究与应用,2016,29(6):87-89.

Liu B X,Li J,Lian P,et al. Kinematics simulation of loading and unloading manipulator
［J］. Mechanical Research & Application,2016,29(6):87-89.

［7］胡传松.冲床卸料机械手的结构设计与有限元仿真
［J］.西安文理学院学报:自然科学版,2018,21(5):31-35.

Hu C S. Structural design and finite element simulation of a press discharging manipulator
［J］. Journal of Xi′an University:Natural Science Edition,2018,21(5):31-35.

［8］丰日美.装卸机机械手的设计优化
［J］.装备制造技术,2011(5):48-49，64.

Feng R M. Design optimization of loader manipulator
［J］. Equipment Manufacturing Technology,2011(5):48-49，64.

［9］杨韬,蔡长韬,周延,等.PCB上下料机械手设计与仿真
［J］.机床与液压,2017,45(21):26-30.

Yang T,Cai C T,Zhou Y, et al. Design and simulation of PCB loading and unloading manipulator
［J］. Machine Tool & Hydraulics,2017,45(21):26-30.

［10］梁宏宝,夏飞,韩东.五自由度移动机械手的动力学建模与仿真
［J］.机械制造与自动化,2018,47(6):112-114，146.

Liang H B,Xia F,Han D. Dynamic modeling and simulation of a five-DOF mobile manipulator
［J］. Machinery Manufacturing and Automation, 2018,47(6):112-114，146.

［11］高怀龙.基于ADAMS的钻杆拆卸辅助机械手仿真分析
［J］.煤矿机械,2018,39(11):159-161.

Gao H L. Simulation analysis of auxiliary manipulator for drill pipe disassembly based on ADAMS
［J］. Coal Mine Machinery,2018,39(11):159-161.

［12］李厦,赵映祥.基于Workbench的U型桁架机械手的有限元分析与优化
［J］.农业装备与车辆工程,2018,56(11):47-51.

Li X,Zhao Y X. Finite element analysis and optimization of U-shaped truss manipulator based on Workbench
［J］. Agricultural Equipment and Vehicle Engineering,2018,56(11):47-51.

服务与反馈：

【本网站尚未开通全文下载服务】【加入收藏】