一种用于气阀部件装配的机器人末端执行器设计

摘要

为降低往复式压缩机气阀部件人工装配劳动强度,提高生产效率,设计了一种新型机器人末端执行器,代替人工来完成气阀部件装配.根据目前气阀部件装配的工艺要求和难点,基于电磁吸附原理,设计了末端执行器的机械结构,确定了电磁铁性能参数和气缸类型;使用有限元分析软件对末端执行器关键部件进行静力学分析.经实验验证,所设计的末端执行器具有很好的刚度,满足气阀装配的工作要求,能够配合装配机器人完成气阀部件的装配工作.%In order to reduce the labor intensity of reciprocating compressor valve compo-nents manual assembly and improve production efficiency,a new type of robot end effector was designed,which was used to complete the assembly of valve components without manu-al work.According to the process and difficulties of the valve components assembly,the me-chanical structure of the end effector was designed based on the principle of electromagnetic adsorption,and the electromagnet parameters and the type of the cylinder were determined. The static analysis of the key components of the end effector has been made by using finite element software.The experiment results show that the end effector has good stiffness,meets the requirements of the valve assembly,and could complete the assembly work with cooper-ation of the robot.