关键词: 支重轮, 抛丸, 混线生产, 柔性搬运, 机器人末端执行器

Abstract: In order to meet the production demands of multiple varieties and small batches,solving the problem of flexible automatic loading and unloading in the shot blasting process of track roller,an end effector for a flexible track roller handling robot with a simple structure,strong versatility and low cost was proposed and developed.This effector adopted an innovative grasping strategy and successfully achieved stable grasping of all series of track roller for construction machinery ranging from 13~150 T. At the same time,the independently developed recognition algorithm and intelligent control program have achieved the automatic recognition of the product specifications of the track roller and the intelligent matching of the shot blasting loading and unloading program,significantly enhancing the adaptive ability and operational efficiency of the end effector. After application verification,the research results have effectively solved the technical bottleneck that traditional robot end effectors are difficult to balance large-scale size differences and high flexibility,providing a high-efficiency,high-flexibility and low-cost intelligent upgrade path for the shot blasting production of key components of construction machinery.

Key words: track roller, shot blasting, mixed-line production, flexible handling, robot end effector