摘要
为实现滚动轴承包装筒自动化抓取,解决中小企业人工包装效率低、成本高、易损坏等问题,设计了一种滚动轴承包装筒抓取机械手及其控制策略。此机械手由法兰连接块、转接座、夹爪气缸、V型手指等部件共同协同运作。其中,V型手指采用自适应结构,可匹配外径35~55 mm的包装筒;经由夹持力计算,选定HFKL25气缸,搭配DMS系列传感器和华数HSRSR10-800型4轴机械臂;与此同时,基于西门子S7-1200 PLC构建控制流程。仿真结果表明,该机械手在抓取-搬运-复位全流程中运动平稳,3向位移协同性良好;在0~120 Hz频率范围内频响低且稳定,具备良好的动态载荷适应性与抗震性。该机械手在满足自动化包装对精度和稳定性需求的同时,可助力企业优化流程、降本增效。
To realize the automatic grasping of rolling bearing packaging tubes and solve the problems of low efficiency,high cost and easy damage in manual packaging for small and medium-sized enterprises,a gripping manipulator for rolling bearing packaging tubes and its control strategy are designed.This manipulator operates in coordination by components such as flange connection blocks,adapter seats,gripper cylinders,V-shaped fingers.Among them,the V-shaped fingers adopt an adaptive structure,which can be adapted to packaging tubes with an outer diameter of 35~55 mm.Through the clamping force calculation,the HFKL25 cylinder is selected,which is matched with DMS series sensors and Huashu HSR-SR10-8004-axis manipulator.Meanwhile,the control process is constructed based on Siemens S7-1200 PLC.The simulation results show that the manipulator operates smoothly during the whole process of grasping,transporting and resetting,with good coordination in three-directional displacement.It has a low and stable frequency response in the range of 0~120 Hz,and possesses excellent dynamic load adaptability and shock resistance.While meeting the requirements for precision and stability of automated packaging,the manipulator can help enterprises optimize processes,reduce costs and improve efficiency.
作者
李迎春
赵衠
姚齐水
LI Yingchun;ZHAO Zhun;YAO Qishui(School of Mechanical Engineering,Hunan University of Technology,Zhuzhou Hunan 412007,China)
出处
《包装学报》
2026年第2期57-64,共8页
Packaging Journal
关键词
滚动轴承
包装筒
抓取机械手
V型手指
PLC控制
rolling bearing
packaging tube
gripping manipulator
V-shaped finger
PLC control
