一种气动助力机械臂设计
侯俊逵，熊瑞平，彭博，唐小康
（四川大学 机械工程学院，四川 成都 610065）
摘要：针对电机转子上料组装，设计了一种辅助搬运的气动助力机械臂装置。该装置由机械结构、夹具、气路控制系统及操控盘组成，机械臂由驱动气缸平衡重物，达到省力的目的。对气动助力机械臂进行了整体的结构设计，并进行了理论的分析与计算，采用分析结论和计算结果对锚栓、气缸进行选型，对关节的转动轴进行了弯曲强度的校对。同时，提出一种采用储气罐和空气诱导止回阀气路逻辑控制方法，能保证在断气、断电和气压不稳定的情况下安全可靠。最后用ANSYS Workbench对关键结构进行静力学仿真分析，结果表明结构的强度和刚度达到使用要求。
关键词：搬运；气动；机械臂
中图分类号：TH122 文献标志码：A doi：10.3969/j.issn.1006-0316.2021.02.006
文章编号：1006－0316 (2021) 02－0042－07
Design of a Pneumatic Assist Manipulator
HOU Junkui，XIONG Ruiping，PENG Bo，TANG Xiaokang
( School of Mechanical Engineering, Sichuan University, Chengdu 610065, China )
Abstract：Aiming at the loading and assembly of motor rotor, a pneumatic power assisted manipulator was designed to assist transportation. The device is composed of mechanical structure, fixture, pneumatic control system, and control panel. The mechanical arm is driven by the cylinder to balance the weight, so as to save labor. This paper conducts the whole structure design of the pneumatic power assisted manipulator and carries out theoretical analysis and calculation. The anchor bolt and cylinder are selected according to the analysis conclusion and calculation results, and the bending strength of the rotating shaft of the joint is checked. A logic control method using gas storage tank and air induction check valve is put forward, which can ensure the safety and reliability in the case of gas cut-off, power-off and unstable air pressure. Finally, ANSYS Workbench is used to carry out static simulation analysis of the key structure, and the results show that the strength and stiffness of the structure meet the service requirements.
Key words：handling；pneumatic power；manipulator
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收稿日期：2020－08－10
基金项目：四川省重点研发项目：智能涂装产线关键技术的开发与集成（2020YFG0119）；四川省智能制造与机器人重大专项课题：工业机器人成套装备研制与应用（2019ZDX0019）
作者简介：侯俊逵（1991－），男，四川巴中人，硕士研究生，主要研究方向为结构设计与控制，E-mail：alliswell.h@foxmail.com。
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