桁架机械手上下料装置的设计与仿真

Design and Simulation of Loading and Unloading Device of Truss Manipulator

摘要: 本文针对某企业在实际生产中存在招工难、劳动强度大、生产线较长、工艺复杂等问题对现有卧式车床进行升级改造，研发一种基于卧式车床的自动上下料装置。本研究通过Solidworks软件建立桁架机械手自动上下料整机装置的三维模型，利用有限元分析软件Abaqus对自动上料整机装置的桁架机械手进行静力分析和模态分析。仿真结果显示：桁架机械手在两种工况下最大变形量为0.79 mm，最大应力值为36.28 Mpa，整机的前六阶固有频率远高于共振频率。从而验证了装置在强度、刚度以及整机共振方面均符合工程设计要求，为后续研发和优化提供了理论依据。目前已经研制样机，调试结果良好，具有良好的应用前景。

Abstract: Aiming at the problems of difficult recruitment, high labor intensity, long production lines and complex processes in an enterprise in actual production, the existing horizontal lathe is upgraded and transformed, and an automatic loading and unloading device based on the horizontal lathe is developed. In this study, the 3D model of the automatic loading and unloading machine of the truss manipulator was established by Solidworks software, and the static analysis and modal analysis of the truss manipulator of the automatic loading and unloading machine were carried out by the finite element analysis software Abaqus. The simulation results show that the maximum deformation of the truss manipulator under the two working conditions is 0.79 mm, the maximum stress value is 36.28 Mpa, and the first six-order natural frequency of the whole machine is much higher than the resonance frequency. Therefore, it is verified that the device meets the engineering design requirements in terms of strength, stiffness and resonance of the whole machine, which provides a theoretical basis for subsequent research and optimization. At present, a prototype has been developed, the debugging results are good, and it has a good application prospect.