锻压技术

锻造自动化用高负重比气动机械手夹持臂及其轻量化

英文标题：High load ratio pneumatic manipulator gripper arm and its lightweight for forging automation

分类号：TP241.2

出版年,卷(期):页码：2024,49(5):179-187

摘要：

为解决自动化锻造生产中大质量坯料在各环节转移困难的问题，对机械手夹持臂的机械结构和驱动系统进行了设计，以实现机械手夹持臂的高负重比。通过SolidWorks对机械手设备进行三维建模，并完成动力源和直线导轨等机构的相关参数计算；对夹持臂进行静力学分析和结构优化，并通过机器人负载模拟平台对机械手的夹持性能进行验证。为满足产品经济性与生产制造的便利性，夹持臂采取模块化设计策略，其主体采用标准工字型钢材，夹钳和固定端通过焊接模块固定，并对整体结构进行了轻量化设计。结果表明：该机械手夹持臂轻量化后的质量为75 kg，在选用经济效益较高的KUKA KR210机器人情况下，最大负载为70 kg，机器手夹持臂的负重比达到1∶1.1。该夹持臂符合设计要求，其具有的高负重比将有利于大质量部件的高质量生产。

In order to solve the problem that the heavy weight blanks are difficult to transfor in each process of automatic forging production, the mechanical structure and driving system of the gripper arm for manipulator were designed to achieve the high load ratio. Then, 3D modeling of manipulator equipment was carried out by SolidWorks, and the calculation of related parameters for power source, linear guideway and other mechanisms was realized. Furthermore, the static analysis and structural optimization on the gripper arm were carried out, and the gripping performance of manipulator was verified by the robot load simulation platform. In order to meet the economy of product and the convenience of manufacturing, the gripper arm applied the strategy of modular design, the main body was made of standard I-beam steel, the clamping and fixing ends were fixed by welding modules, and the overall structure was designed to be lightweight. The results show that the weight of the gripper arm for manipulator is 75 kg after lightweight, and when using the KUKA KR210 robot with higher economic benefits, the maximum load is 70 kg. The load ratio of the gripper arm reaches 1∶1.1, which meets the design requirements. Thus, its high load ratio is beneficial to the high-quality production of heavy weight components.

基金项目：

作者简介：徐悦鹏（1997-），男，硕士，助理工程师 E-mail：1379043016@qq.com

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