等离子去板坯毛刺机器人机构设计与研究
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摘要
针对钢铁行业现有板坯毛刺去除方法(如刮刀式去除法和锤刀式去除法)无法满足去毛刺质效的需要,提出了一种专用机器人等离子去板坯毛刺的新方法,为此正向设计了一种5自由度专用机器人本体,并对其进行研究。首先根据连铸工况及生产线布置确定机器人总体设计方案;然后对该机器人各关节传动方案进行选择,并用SolidWorks对相关结构进行设计,使用相关选型方法对各关节电机及减速器进行计算选型;最后利用ADAMS动力学仿真软件对机器人进行运动轨迹仿真。仿真结果表明:所设计机器人机构以及电机和减速器的选型是合理的,满足设计要求。
In view of the existing steel slab burr removal methods in the steel industry,such as blade scraper removal and hammer scraper removal,they cannot meet the need for deburring,and a new method for special robotic plasma blanking burrs was proposed. To design a 5-DOF robot body Firstly and the overall design scheme of this robot is determined according to the continuous casting condition and production line. Then the joint transmission solutions of the robot was selected. The relevant structure was designed by SolidWorks 3D software and the joint motor and the reducer were selected by the related selection method. Finally,the ADAMS dynamics simulation software was used to simulate the robot 's motion trajectory. The simulation results show that the design of this robot mechanism and the selection of motor and reducer are not only reasonable,but also meet the design requirements.
In view of the existing steel slab burr removal methods in the steel industry,such as blade scraper removal and hammer scraper removal,they cannot meet the need for deburring,and a new method for special robotic plasma blanking burrs was proposed. To design a 5-DOF robot body Firstly and the overall design scheme of this robot is determined according to the continuous casting condition and production line. Then the joint transmission solutions of the robot was selected. The relevant structure was designed by SolidWorks 3D software and the joint motor and the reducer were selected by the related selection method. Finally,the ADAMS dynamics simulation software was used to simulate the robot 's motion trajectory. The simulation results show that the design of this robot mechanism and the selection of motor and reducer are not only reasonable,but also meet the design requirements.
引文
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[2]徐榴伶.一种用于连铸大方坯的在线去毛刺机[J].连铸,2016(1):56-58.
[3]廖亚初,刘旺朝,邵维,等.板坯去毛刺机故障分析及优化改进[J].机械研究与应用,2017(2):165-167.
[4]许四祥,陈富强,高培青,等.一种去除板坯毛刺的系统[P].中国ZL201210459481. 3. 2014-10-15.
[5]日本机器人学会.新版机器人技术手册[M].宗光华,程军实,译.北京:北京科学出版社,2007.
[6]龚振邦.机器人机械设计[M].北京:电子工业出版社,1995.
[7]程军.六自由度关节型机器人本体设计和控制系统的研究[D].哈尔滨:哈尔滨理工大学,2004.
[8] BRUNO SICILIANO,OUSSAMA KHATIB.机器人手册[M].北京:机械工业出版社,2016.
[9]李金泉.码垛机器人机械结构与控制系统设计[M].北京:北京理工大学出版社,2011.
[10]李增刚. ADAMS入门详解与实例[M].北京:国防工业出版社,2014:21-58.
[11]徐建飞,范纪华,任亮,等.基于ADAMS和ANSYS工业机器人运动仿真与有限元分析[J].机床与液压,2018,46(15):24-27.
[12]袁浩,房炜,张清林,等.基于ADAMS的四轴冲压搬运机器人的运动学分析及仿真[J].机床与液压,2018,46(3):24-27.
[13]陈鲁刚.基于ADAMS的焊接机器人动力学仿真研究[D].无锡:江南大学,2012.