摘要
针对包装袋规格和码垛技术要求,提出一种新型的高速码垛机械手的设计方案.该方案采用气压驱动,并通过手指开合机构、侧板夹紧机构和压袋机构,实现包装袋的可靠抓包、搬运和码放等动作.在此基础上,通过详细分析与计算,完成了该机械手的结构设计,并在Pro/E平台中建立了该机械手的三维CAD模型.对该机械手的动作规划、动力学计算以及气动系统等问题进行了分析与研究.仿真结果表明,该机械手能够在规定的时间内完成规定动作.
According to the bag and palletizing specifications, a new design scheme of high-speed palletizing manipulator is presented. Grasping, carrying and stacking of bags are implemented by the open and close mechanism of finger, side board and press mechanism driven by compressed air. By analyzing and calculation, the structure of the manipulator is designed and three-dimensional CAD models are set up in a Pro/E platform. Some problems on the motion planning, dynamics computation and pneumatic system of the manipulator are discussed. The simulation results showed that the manipulator can work better for palletizing in stated time.
出处
《北京理工大学学报》
EI
CAS
CSCD
北大核心
2007年第1期17-20,共4页
Transactions of Beijing Institute of Technology
基金
博士后科学基金资助项目(2005038024)
