多自由度火车车轮生产机械手设计

作者：姜晓勇，倪敬，张芸，项占琴 日期：2008-12-26/span> 浏览：4026 查看PDF文档

多自由度火车车轮生产机械手设计

姜晓勇，倪敬，张芸，项占琴
(杭州浙大精益机电技术工程有限公司，浙江 杭州 310013)

摘要：针对火车车轮各生产工序间轮坯传递的高负载、高温、高位置精度、高生产率等要求，提出了一种多自由度生产机械手解决方案。该机械手采用特殊的机构设计方案，实现了轮坯多自由度的自动定位、夹紧和传递等功能；采用西门子高速响应运动控制器和电液伺服控制技术，实现了机械手高性能运动控制。实际运行效果表明,该机械手具有工作范围大、定位精度高、夹紧可靠、生产效率高等特点，并且已经应用于火车车轮生产过程，较好地解决了各生产工序间的工件传递。
关键词：火车车轮生产；多自由度机械手；电液伺服控制
中图分类号：TP273文献标识码：A文章编号：1001-4551(2008)12-0089-03

Multiple degree of freedom robot arm on train wheel production
JIANG Xiao-yong, NI Jing, ZHANG Yun, XIANG Zhan-qin
(Hangzhou zhejiang University Jingyi Electromechanical Technology Engineering Co. Ltd., Hangzhou 310013, China)
Abstract: According to the high requirements on loading, temperature, accuracy and producing efficiency of train wheel production, a new robot arm with multiple degrees of freedom was introduced. The provided robot arm employed the specific mechanical design to complete wheel block positioning, clamping and transmitting. SIEMENS special motion controller and electro-hydraulic servo control were adopted to realize high running performance. The practical applications show that the robot arm is featured by large operating space, high position accuracy, reliable clamping and high efficiency. This robot arm has been applied in actual production and improves the productivity effect of train wheel production.
Key words: train wheel production; multiple degree of freedom robot arm; electro-hydraulic servo control