锻压技术

基于机器人的自动取料设备设计与应用

英文标题：Design and application on automatic reclaiming equipment based on robot

作者：刘心声柳青

单位：黑河学院

关键词：取料设备机器人夹具磁铁自动化

分类号：TP241.2

出版年,卷(期):页码：2020,45(8):150-155

摘要：

为降低某电池检测输送线中取料设备的制造成本、减小输送线的占地布局、提高生产效率，设计了一套机器人自动取料设备，包括机器人、转塔A、转塔B及水平输送皮带组件，通过各组件的配合自动完成电池的取料、输送至后端设备。并为兼容不同的装电池盒型设计了一套柔性机器人夹具，该夹具设计有铷磁铁组，以实现电池组的抓取。水平输送皮带设置有挡边、黑磁铁及对射传感器，机器人与输送皮带挡边刮碰，同时受到皮带下方黑磁铁的作用，实现电池的取料；对射传感器实现皮带上电池有无的检测，输送皮带实现电池的输送。整个过程只需1人，将整盘电池放置于转塔之上，与原有设备相比，有效地降低了制造成本、人工成本，并提高了生产效率，目前该设备已投入实际生产，整线运转良好。

In order to reduce the manufacturing cost of reclaiming equipment in a battery detection conveyor line, reduce the land occupation layout of conveyor line and improve the production efficiency, a set of robot automatic reclaiming equipment was designed including robot, turret A, turret B and horizontal conveyor belt components, and through the cooperation of various components, the battery was automatically taken out and transported to the back-end equipment. Then, a set of flexible robot fixture was designed, which was compatible with different battery box types, and the fixture was designed with rubidium magnet group to realize the grasping of battery pack. Furthermore, the horizontal conveyor belt was equipped with rib, black magnet and firing sensor, the robot scraped against the rib of conveyor belt and was affected by the black magnet under the belt to realize the reclaiming of battery, the firing sensor detected the presence or absence of battery on the belt, and the conveyor belt realized the transportation of battery. In the whole process, only one person was needed to place the whole battery on the turret. Compared with the original equipment, the manufacturing cost and labor cost were effectively reduced, and the production efficiency was improved. At present, the equipment is put into actual production, and the whole line runs well.

基金项目：

黑龙江省教育科学规划办课题（GJC1318O63）

刘心声（1969-），男，硕士，教授，E-mail：2339316335@qq.com

参考文献：

[1]王振华,孟广耀,黄居鑫,等.汽车驾驶机器人换档机械手的设计及仿真[J].中国科技论文,2018,13(16):1841-1846.
Wang Z H,Meng G Y,Huang J X,et al.Design and simulation of vehicle robot driver′s gear shifting manipulator[J].China Sciencepaper,2018,13(16):1841-1846.
[2]洪琳,孙宇,曹春平.多工位送料机械手的机构设计及电机同步控制[J].锻压技术,2018,43(6):89-93.
Hong L,Sun Y,Cao C P.Mechanism design and motor synchronous control of multi-station feeding manipulator[J].Forging ＆ Stamping Technology,2018,43(6):89-93.
[3]夏端武,薛小凤.智能制造技术在工业自动化中的应用研究[J].机械设计与制造,2018,(2):206-209.
Xia D W,Xue X F.Research on the application of intelligent manufacturing technology in industrial automation[J].Machinery Design ＆ Manufacture,2018,(2):206-209.
[4]鲁霞,吴卓明.一种工业机器人多功能夹具[J].机床与液压,2020,48(1):113-115.
Lu X,Wu Z M.A kind of multifunctional industrial robot fixture[J].Machine Tool ＆ Hydraulics,2020,48(1):113-115.
[5]李全城,张馨锐,吴洁.基于PLC和KUKA机器人的轴料加工自动生产线设计[J].机械研究与应用,2019,32(6):100-102,105.
Li Q C,Zhang X R,Wu J.Design of automatic production line for shaft parts processing based on PLC and KUKA robot[J]. Mechanical Research & Application,2019,32(6):100-102,105.
[6]曹成铭,李圣文,陈波,等.液压支架连杆机器人自动化焊接生产线的研制与应用[J].煤矿机电,2019,40(6):29-32.
Cao C M,Li S W,Chen B,et al.Development and application of automatic welding production line for hydraulic support connecting rod robot[J].Colliery Mechanical ＆ Electrical Technology,2019,40(6):29-32.
[7]何文学,阳勇.钣金类零件智能化生产线中滚压成型与传动机构的设计分析[J].机械工程师,2019，(10):127-129,131.
He W X,Yang Y.Design analysis of roll forming and transmission mechanism in sheet metal parts intelligent production line[J]. Mechanical Engineer,2019,(10):127-129,131.
[8]宋蓓,罗静,肖航,等.凸轮零件的内花键拉削工艺的自动化生产线[J].制造技术与机床,2019,(8):164-168.
Song B,Luo J,Xiao H,et al.Automatic production line for broaching internal spline of cam parts[J].Manufacturing Technology & Machine Tool,2019,(8):164-168.
[9]李良栋.钢轨轨头精锻自动化生产线设计[J].机械设计,2019,36(S1):317-319.
Li L D.Design of automatic production oine for steel rail head precision forging[J].Journal of Machine Design,2019,36(S1):317-319.
[10]王从宏,万熠,王桂森.板材下料自动拾取机器人控制系统设计[J].实验室研究与探索,2017,36(4):41-44.
Wang C H,Wan Y,Wang G S.Development of control system for a picking robot used in plate flame cutting[J].Research and Exploration in Laboratory,2017,36(4):41-44.
[11]徐平凡,肖文勋,王哲,等.机器人上下料旋压工作站的设计与应用[J].锻压技术,2019,44(8):112-115,123.
Xu P F,Xiao W X,Wang Z,et al.Design and application on spinning station based on robot loading and unloading system[J].Forging ＆ Stamping Technology,2019,44(8):112-115,123.
[12]黄晓辰,张小俊,孙凌宇,等.核电站多功能水下打捞机器人系统研究[J].仪器仪表学报,2017,38(3):552-559.
Huang X C,Zhang X J,Sun L Y,et al.Research on the reactor multi-function robot for object salvaging underwater[J].Chinese Journal of Scientific Instrument,2017,38(3):552-559.

服务与反馈：

【本网站尚未开通全文下载服务】【加入收藏】