王慧,崔生乐,安洋,杨春梅.竹材切割机械臂及关键零部件设计仿真[J].包装工程,2022,43(17):165-173.
WANG Hui,CUI Sheng-le,AN Yang,YANG Chun-mei.Design and Simulation of Bamboo Cutting Manipulator and Parts[J].Packaging Engineering,2022,43(17):165-173. |
| 竹材切割机械臂及关键零部件设计仿真 |
| Design and Simulation of Bamboo Cutting Manipulator and Parts |
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| DOI：10.19554/j.cnki.1001-3563.2022.17.021 |
| 中文关键词: 机械臂 曲柄连杆机构 往复惯性力 强度校核 |
| 英文关键词: manipulator crank connecting rod mechanism reciprocating inertia force strength check |
| 基金项目:广东省重大专项研发计划项目(2020B020216001);中央高校基本科研业务费专项资金项目资助(2572020DR12) |
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| 中文摘要: |
| 目的 针对包装用竹材人造板制造中需要切割竹材的情况，设计一种无刷电机驱动的竹材切割机械臂，并设计其中往复锯的平衡机构，以平衡往复惯性力。对往复锯核心机构零件及内壳体进行强度校核，确保零件薄弱环节满足强度要求。方法 在SolidWorks中建立往复锯机构及其平衡机构，通过Adams仿真验证平衡机构平衡效果。在Ansys软件中，对往复锯核心零件及其平衡机构进行有限元分析，求得其最大主应力以进行强度校核，最后设计完成主材切割机械臂的设计。结果 Adams仿真表明往复锯剩余的往复惯性力极大值为7.564 2 N，平衡率为96.65%。Ansys有限元分析表明，各个零件的最大主应力最大值为70.645 MPa，远小于Q235许用应力值210 MPa。结论 文中设计的竹材切割机械臂中的往复锯，经平衡机构平衡后，剩余往复惯性力较小，其核心机构零件及内壳体满足强度要求，主材切割机械臂设计满足要求。 |
| 英文摘要: |
| In view of the need to cut bamboo in the manufacture of bamboo wood-based panel for packaging, the work aims to design a bamboo cutting manipulator driven by brushless motor and a balance mechanism of reciprocating to balance the reciprocating inertia force. The strength of the core mechanism parts and inner shell of the reciprocating saw were checked to ensure that the weak links of the parts meet the strength requirements. The reciprocating saw mechanism and its balance mechanism were established in Solidworks, and the balance effect of the balance mechanism was verified through Adams simulation. In Ansys software, finite element analysis was performed on the core parts of the reciprocating saw and its balance mechanism, and the maximum principal stress was obtained for strength check. Finally, the main material cutting manipulator was designed and completed. Adams simulation showed that the maximum remaining reciprocating inertial force of the reciprocating saw was 7.564 2 N, and the balance ratio was 96.65%. Ansys finite element analysis showed that the maximum value of the maximum principal stress of each part was 70.645 MPa, which was far less than 210 MPa, the allowable stress value of Q235. The reciprocating saw in the bamboo cutting robot arm designed in this article has a small residual reciprocating inertia force after being balanced by the balance mechanism. Its core mechanism parts and inner housing meet the strength requirements, and the design of main material cutting manipulator meets the requirements. |
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