机器人末端工具快换装置的设计及优化

发布时间：2017-12-28 19:15

本文关键词：机器人末端工具快换装置的设计及优化　出处：《山东大学》2017年硕士论文　论文类型：学位论文

【摘要】：如今,工业机器人在生产制造领域起着至关重要的作用。为进一步提高工业机器人的使用效率,促使其向模块化、重构化方向演进,在机器人手臂的末端安装工具快速更换装置,机器人可以根据指令要求更换末端执行工具以实现多种操作,从而增强机器人作业柔性,降低企业生产成本。当前,对机器人末端工具快换装置的研究,主要集中于零件结构的设计、位姿容差的分析以及控制方案的设计,对动力学以及装配偏差分析等方向的研究较少。另外,企业调研发现,机器人末端工具快换装置在使用过程中有时会出现钢球晃动现象,固定于机器人手臂上的主盘无法可靠锁紧并拾起工具盘及末端执行工具,也就无法确保机器人的正常工作。如何保证机器人能够稳定可靠地拾取或更换不同的末端执行工具以完成多种作业任务,是如今亟需解决的问题。本文依据机器人末端工具快换装置的研究现状以及市面上现有的快换产品,对使用过程中存在的问题进行分析和研究,结合机械设计理论提出一种新的机器人末端工具快速更换装置,并对其进行设计及优化,论文的主要工作如下:(1)综述国内外机器人末端工具快换装置的发展及研究现状,调研并分析快换装置使用过程中存在的问题;(2)提出一种机器人末端工具快速更换装置的改进方案,采用碟簧式气压切换方式来实现主盘与工具盘的连接与分离,提高装置的稳定性和可靠性;(3)结合机械设计手册,对机器人末端工具快换装置的零件进行参数设计计算,采用功能强大的三维设计软件UG9.0对该装置的实体结构特征建模;(4)对机器人末端工具快换装置进行动力学仿真,对碟簧作用力、运动构件的位移、速度、加速度等进行评估和分析,并将套筒作为柔性件建立刚柔耦合动力学模型,进行刚柔耦合状态下的动力学仿真,验证其是否满足材料强度要求;(5)在满足强度要求的条件下,对机器人末端工具快换装置中的关键机构进行装配偏差分析及优化,缩短开发周期,提高产品质量。
[Abstract]:Nowadays, industrial robots play a vital role in the field of production and manufacturing. In order to further improve the efficiency of the use of industrial robots, the modularization and reconstruction to the direction of evolution, installation tools rapid replacement device at the end of the robot arm, the robot can be replaced according to the instructions at the end to achieve a variety of operation tools, thereby enhancing the machine operation flexibility, reduce production costs. At present, the research on robot's terminal tool quick change device mainly focuses on the design of part structure, the analysis of posture tolerance, and the design of control scheme. There is little research on the direction of dynamics and assembly deviation analysis. In addition, the enterprise survey found that robot tools quick changing device in the process of using steel balls sometimes sloshing phenomenon, the main plate is fixed on the robot arm to pick up tools and reliable locking plate and end effector tool, will not be able to ensure the normal work of the robot. How to ensure a stable and reliable pickup or replacement of different terminal execution tools to accomplish a variety of job tasks is an urgent problem that needs to be solved. Study on the status quo and existing products quick change quick changing device based on robot tools, studying and analyzing the existing problems in the use process, combined with the mechanical design theory of fast changing device of new robot tools, and the design and optimization of the main work of this paper are as follows: (1) research and development of the fast changing device at home and abroad robot tools, existing research and analysis of the fast changing device used in the process of problem; (2) fast changing device of robot tools improvement scheme is put forward, using disc spring type pressure switch to achieve the main disk and the tool disk is connected with the separation and improve the stability and reliability of the system; (3) according to the mechanical design manual, quick change device of robot tools parts design parameters, using 3D design powerful software The entity structure feature modeling UG9.0 of the device; (4) the robot tools quick changing device for dynamic simulation of disc spring force, motion displacement, velocity and acceleration are evaluated and analyzed, and the flexible sleeve as a rigid flexible coupling dynamic model, the dynamic simulation of rigid flexible coupling condition the verification of whether it satisfies the strength requirement of the material; (5) to meet the strength requirements under the conditions of the robot tool quickly replacing key mechanism in the analysis and optimization of assembly deviation, shorten development cycle, improve the quality of products.
【学位授予单位】：山东大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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