锻压技术

激光拼焊板翻转机械夹持器结构设计与仿真分析

英文标题：Structural design and simulation analysis on mechanical gripper for welding tailored blank overturning

作者：孙朝阳李贵刘耀东朱智殊杨伟豪

单位：武汉科技大学

分类号：TH112

出版年,卷(期):页码：2020,45(5):140-146

摘要：

针对汽车用激光拼焊板在冲压过程中，人工翻转效率低且存在较大的安全隐患的问题，根据夹持和翻转拼焊板的工作原理，设计了一种双滑块驱动的翻转机器人机械夹持器。首先,通过理论分析得到机械夹持器翻转过程中所需的最小夹持力，并选择合适的驱动电机；然后，对夹持器结构进行三维设计，并对夹钳夹持钢板及其翻转过程进行运动学和动力学分析。结果表明，理论计算的临界等效推力可以完成翻转一般车用最大厚度的拼焊板，并且获得了夹持力随翻转速度、等效推力之间的变化规律。该机械夹持器具有夹持效率较高、适应性较强和减缓冲击等优点，可为后期研究机械手自适应夹持和翻转提供设计依据和基础。

For the problems of low efficiency for manual overturning and large safety risk in stamping process of welding tailored blank (WTB) for automobile, according to the working principle of clamping and overturning for WTB, a mechanical gripper of overturning robot driven by double sliders was designed. First, the minimum clamping force needed in overturning process of mechanical gripper was gained by theoretical analysis, and the appropriate driving motor was selected. Then, the gripper structure was designed in three dimensions, and the clamping and overturning process of gripper for WTB were analyzed in kinematics and dynamics. The results show that the critical equivalent thrust force calculated by the theory completes the overturning of WTB with the maximum thickness for general vehicles, and the variation laws of clamping force with overturning speed and equivalent thrust force are obtained. In addition, the mechanical gripper has the advantages of high clamping efficiency, strong adaptability and slow impact to provide the basis for the further research on the adaptive clamping and overturning of manipulator gripper.

基金项目：

国家级大学生创新创业训练计划项目 (201810488026);国家自然科学基金资助项目(51505348)

孙朝阳（1998-），男，本科，E-mail：1059847415@qq.com；通讯作者：李贵（1983-），男，博士,副教授，E-mail：leegui2030@wust.edu.cn

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