In order to solve the problem of heavy cargo handling with limited installation height and space,a heavy horizontal multi-joint loading and unloading robot was designed.In order to reduce the height space occupation,the robot structure adopts the form of contour series of large arm and small arm and the lifting shaft in the form of wire rope winch;In order to expand the slewing range of the small arm,an auxiliary arm of the follow-up transmission mechanism is arranged.At the same time,the control system of the loading and unloading robot is designed.According to the load under different extreme working conditions,the finite element analysis of the whole machine was carried out.The analysis results show that the maximum stress occurs on the auxiliary arm under condition 1,and the maximum value is 199.8MPa.The maximum deformation occurs in case 1,and the maximum comprehensive displacement of the node is 35mm.The structure of the robot is reasonably designed.
关键词
重载/多关节机器人/机械结构/有限元
Key words
low pressure/high current/short circuit test/voltage sag index
维普
万方数据