ABB拆垛机器人辅助吸盘装置的设计
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摘要
为解决ABB拆垛机器人拆垛过程中因吸力不足造成烟箱掉落等问题,采用RobotStudio机器人仿真软件、气动驱动方式、曲柄摇杆机构等技术设计了一套辅助吸盘装置。在拆垛过程中该装置能够辅助吸盘吸附并夹紧烟箱,将烟箱运送到指定位置,增强了吸附烟箱的稳定性。以济南卷烟厂生产的"泰山(红将军)"牌箱装件烟为对象进行测试,结果表明:安装辅助吸盘装置后,在拆垛过程中未出现因吸附不稳而造成烟箱掉落等问题,在机器人运行速度为13件/min下,每5 000件烟中烟箱掉落次数由12次减少为0,海绵吸盘使用周期延长2个月。该技术可为提高拆垛效率提供支持。
To prevent the cigarette cases from dropping due to insufficient suction of ABB unstacking robot in the process of unstacking, an auxiliary sucker device was designed by adopting RobotStudio simulation software, pneumatic driving and crank rocker mechanism. The device helped the robot with suction and clamping to hold cigarette case firmly until transferring it to the desired position. Cigarette brand"Taishan(Red General)"was tested in Jinan Cigarette Factory, the results showed that after installing the auxiliary sucker device, cigarette cases were transferred reliably at a speed of 13 case/min, the number of cigarette case dropping decreased from 12 to 0 during unstacking 5 000 cigarette cases. The working life of each sponge sucker prolonged by 2 months. This technology provides a support for promoting unstacking efficiency.
To prevent the cigarette cases from dropping due to insufficient suction of ABB unstacking robot in the process of unstacking, an auxiliary sucker device was designed by adopting RobotStudio simulation software, pneumatic driving and crank rocker mechanism. The device helped the robot with suction and clamping to hold cigarette case firmly until transferring it to the desired position. Cigarette brand"Taishan(Red General)"was tested in Jinan Cigarette Factory, the results showed that after installing the auxiliary sucker device, cigarette cases were transferred reliably at a speed of 13 case/min, the number of cigarette case dropping decreased from 12 to 0 during unstacking 5 000 cigarette cases. The working life of each sponge sucker prolonged by 2 months. This technology provides a support for promoting unstacking efficiency.
引文
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[3]罗忠富,冯劲松,赵绍永.自动化物流系统码拆垛机器人吸盘能力研究[J].中国西部科技,2014,13(7):31-33.LUO Zhongfu,FENG Jinsong,ZHAO Shaoyong.Research on sucking capacity of stacking/unstacking robot in automated logistics system[J].Science and Technology of West China,2014,13(7):31-33.
[4]叶晖.工业机器人典型应用案例精析[M].北京:机械工业出版社,2013:2-4.YE Hui.Analysis of typical application cases of industrial robots[M].Beijing:China Machine Press,2013:2-4.
[5]仲德平,徐洪泽,金晶波,等.基于RobotStudio的机器人曲面厚板焊接离线编程[J].焊接技术,2018,47(1):45-49.ZHONG Deping,XU Hongze,JIN Jingbo,et al.Off-line programming of robot surface thick plate welding based on RobotStudio[J].Welding Technology,2018,47(1):45-49.
[6]蒋旗,张培磊,聂云鹏.基于RobotStudio平台的增材制造编程方法[J].上海工程技术大学学报,2018,32(1):39-44.JIANG Qi,ZHANG Peilei,NIE Yunpeng.Programming method of additive manufacturing based on RobotStudio platform[J].Journal of Shanghai University of Engineering Science,2018,32(1):39-44.
[7]郝建豹,许焕彬,林炯南.基于RobotStudio的机器人码垛工作站虚拟仿真设计[J].自动化与信息工程,2017,38(2):26-29.HAO Jianbao,XU Huanbin,LIN Jiongnan.Virtual simulation design of robot palletizing workstation based on RobotStudio[J].Automation&Information Engineering,2017,38(2):26-29.
[8]欧洋,高祯,李连强.工业机械手结构设计分析[J].工业控制计算机,2017,30(6):81-82.OU Yang,GAO Zhen,LI Lianqiang.Analysis of structural design for industrial manipulator[J].Industrial Control Computer,2017,30(6):81-82.
[9]齐良春,张昆华,王亚鹏,等.PROTOS 70卷接机组外置标准气缸式顶杆机构设计[J].烟草科技,2011(11):19-21.QI Liangchun,ZHANG Kunhua,WANG Yapeng,et al.Design of external standard cylinder type mandril mechanism for PROTOS 70 cigarette maker[J].Tobacco Science&Technology,2011(11):19-21.
[10]蔡培良,李明,杨剑锋,等.PROTOS-M5型卷接机组残烟自动回收分类装置的设计[J].烟草科技,2017,50(4):88-92.CAI Peiliang,LI Ming,YANG Jianfeng,et al.Design of automatic waste tobacco reclaiming device for PROTOS-M5 cigarette maker[J].Tobacco Science&Technology,2017,50(4):88-92.
[11]吴振顺.气压传动与控制[M].哈尔滨:哈尔滨工业大学出版社,1995:30-31.WU Zhenshun.Pneumatic transmission and control[M].Harbin:Harbin Institute of Technology Press,1995:30-31.
[12]胡伟,陈彬,吕世霞,等.工业机器人行业应用实训教程[M].北京:机械工业出版社,2016:22-25.HU Wei,CHEN Bin,LüShixia,et al.Practical training course for industrial robot industry[M].Beijing:China Machine Press,2016:22-25.