摘要：在传统制造行业进入改革的深水期，中国全面提出智能制造2025的新时代，机械概念设计也进入了全新的发展，由西门子工业软件有限公司出品的NX软件为机电概念设计提供了全新的思路，在MCD的平台的帮助下，可以更好的完成机械的运动仿真设计的设计，从而降低了工业生产的成本，达到了提升了生产效率的目的。而本文阐述了基于NX/MCD的机械臂物料分类分装的控制仿真的设计。        

本次设计主要针对工业流水线中不同颜色的物料分类分装的过程，设计一套物料自动分类分装的结构，设计中主要针对机械臂的机械机构及其传送带结构进行了分析；分析了机械臂在对物料进行抓取时的不同工位、角度，合理设计了三个机械臂动作，分别是大中小三个机械臂以及底座。并充分考虑了设计的实际可行性和合理性。通过NX建立了机械臂，机械爪以及传送带的三维模型，并通过NX中的机电概念设计模块对建立的三维模型进行机电属性的定义，对不同的运动形式定义铰链副，滑动副以及固定副等，最后通过仿真序列的设计完成了此次物料分类分装机构的运动仿真；再通过西门子PLC软件对NX导出的代码进行了编译修改；从而实现了对NX三维模型运动仿真的控制。在这其中，对机械爪的结构进行了设计，完成了夹钳式双支点回转型机械爪的设计，并对机械爪的夹紧力和气缸的设计进行了计算。在物料分类分装过程中，通过颜色读取器完成了对物料颜色的区分。使用MCD模块的序列编辑器，设计了机械臂下降，抬升，旋转转移和机械爪的收紧放松等动作的设计，完成了实现了虚拟与现实的结合。

通过本次设计充分运用了过去所学的理论知识，完成了机械爪机构的设计，通过仿真序列完成了机械臂物料分类分装的控制仿真；最终通过MCD平台完成了对整套物料分类分装系统的合理的验证。

关键词：物料分类；概念设计；MCD；机械臂；运动控制仿真

Motion simulation of mechanical arm material classification and assembly based on NX/MCD

Abstract: in the deep water period of the traditional manufacturing industry, China has put forward a new era of intelligent manufacturing 2025, and the mechanical concept design has also entered a new development. The NX software produced by SIEMENS Industrial Software Co., Ltd. provides a new idea for the mechanical and electrical concept design. With the help of the platform of MCD, it can be better. The design of mechanical motion simulation is completed, thereby reducing the cost of industrial production and achieving the goal of improving production efficiency. This paper describes the design of control simulation of mechanical arm material classification and loading based on NX/MCD.

This design mainly aims at the process of classification and distribution of materials with different colors in the industrial assembly line, and designs a structure of automatic classification and distribution of materials. In the design, the mechanical arm mechanism and the structure of the conveyor belt are mainly analyzed, and the different position and angle of the manipulator in grasping the material are analyzed. Three manipulator actions are designed, namely, large, medium and small arms and bases. The practical feasibility and rationality of the design are fully considered. The three-dimensional model of the mechanical arm, the mechanical claw and the conveyor belt is established through NX, and the mechanical and electrical properties are defined by the electromechanical conceptual design module in the NX. The hinge pairs, the sliding pairs and the fixed pairs are defined for different forms of motion. Finally, the material classification is completed by the design of the imitation real sequence. The motion simulation of the separation mechanism is carried out by the SIEMENS PLC software, and the code of the NX is compiled and modified, thus the control of the motion simulation of the NX 3D model is realized. In this, the structure of the mechanical claw is designed, the design of the clamp type double fulcrum rotary mechanical claw is completed, and the clamping force of the mechanical claw and the design of the cylinder are calculated. In the process of material classification and packing, the color reader is used to distinguish the color of materials. Using the sequence editor of the MCD module, the design of the movement of the drop, lift, rotation and the tightening and relaxation of the mechanical claw is designed, and the combination of virtual and reality has been realized.