目的 针对高档酒盒、高端礼品盒等产品类型多样、装配过程复杂的流水线,提出一种双模式2-RPU+(Pa/U)PS并联机构,用于车间流水线上不同高度及不同方位主支线上物料的分流和分拣。方法 并联机构支链(Pa/U)PS中的双模式Pa/U运动副,通过滑块的滑移和嵌套,可实现Pa副与虎克铰2种模式的切换。采用支链分解综合法,基于螺旋理论,对并联机构进行自由度的计算,以确定其可实现的空间位姿功能。基于机构的运动学逆解,对机构进行工作空间分析。结果 所提出的双模式2-RPU+(Pa/U)PS并联机构在2种模式下分别具有4个和5个自由度,实例表明并联机构能够适应车间流水线上主支线间400 mm的高度差,以及相邻支线间输送方向800 mm的偏移量。结论 双模式2-RPU+(Pa/U)PS并联机构的2种模式可以根据需求进行切换,模式Ⅰ可以满足流水线终端成品分拣及装盒需求,模式Ⅱ能适应不同高度及不同方位的主支线上的物料分流需求,极大地降低了人工成本,有效提高了物料的分流和分拣效率。
Abstract
The work aims to present a dual-mode 2-RPU+(Pa/U)PS parallel mechanism used for the diversion and sorting of materials on the main and branch lines at different heights and orientations on the workshop assembly line, targeting the diverse types and complex assembly processes of high-end wine boxes, high-end gift boxes, and other products. The variant Pa pair in the branch chain (Pa/U) PS of a parallel mechanism achieved the transition between Pa pair and Hooke hinge modes through the sliding nesting of sliders. By using the branch decomposition synthesis method, the degrees of freedom of the parallel mechanism were calculated based on the spiral theory to determine its achievable spatial pose function. The workspace analysis was performed on the mechanism based on inverse kinematics of the mechanism. The proposed dual-mode 2-RPU+(Pa/U) PS parallel mechanism had 4 and 5 degrees of freedom in two modes, respectively. The example showed that the parallel mechanism could meet the material classification of the main and branch lines on the workshop assembly line with a height difference of 400 mm and an offset of 800 mm in the conveying direction. The two modes of the dual-mode 2-RPU+(Pa/U) PS parallel mechanism can be switched according to demands. Mode I can meet the requirements of finished product sorting and boxing at the end of the assembly line, while Mode Ⅱ can adapt to the material diversion needs on the main and branch lines at different heights and orientations, greatly reducing labor costs and effectively improving the efficiency of material diversion and sorting.
关键词
并联机构 /
双模式Pa/U运动副 /
运动学逆解 /
工作空间 /
物料分流
Key words
parallel mechanism /
dual-mode Pa/U kinematic pair /
inverse kinematics /
workspace /
material diversion
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基金
山西省重点研发计划（202202150401018）
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