集装箱液袋阀门自动装配装置的设计与研究

发布时间：2018-05-23 22:59

本文选题：集装箱液袋 + 阀门　；参考：《青岛大学》2017年硕士论文

【摘要】：集装箱液袋(Fexitank)作为一种新型软体包装容器,随着应用的日渐深化,在使用的多个环节具有显著的经济优势,因此在各类化工、石油、食品、饲料、农产品等领域得到了更广泛的应用。然而集装箱液袋在迅速发展的同时,也存在一定的安全隐患。由于工艺和设备上的限制,集装箱液袋生产效率低且产品质量不达标,导致屡次出现集装箱液袋泄漏问题。深究泄漏原因,阀门的可靠有效性安装成为是导致集装箱液袋泄漏问题的一个不可忽视的原因。本文参照集装箱液袋手工生产的工艺流程,对集装箱液袋自动化生产线的阀门自动装配工位进行设计:首先,经过对集装箱液袋手工生产中阀门装配环节了解与分析,规划出阀门自动装配工序流程,根据其生产工艺要求与工序流程规划,对阀门自动装配工位的自动化装置进行设计与选型,包括阀门自动装配机器人的设计与集成、阀门输送装置的设计与选型、自动送螺钉装置的设计与选型。阀门自动装配机器人末端安装阀门自动装配的专用装配工装,专用装配工装包括阀门抓取模块、定位模块、锁螺钉模块和扎孔模块。然后,介绍并分析阀门自动装配机器人的结构,采用D-H参数法,建立阀门自动装配机器人运动学模型,并对其进行正、逆运动学分析。最后,基于MATLAB Robotics Toolbox对阀门自动装配机器人进行仿真。比较机器人在关节空间和笛卡尔空间的轨迹规划方法,采用关节空间轨迹规划方法,结合集装箱液袋阀门自动装配工位的三维模型布局,对阀门自动装配机器人进行轨迹规划,为集装箱液袋自动化生产线中阀门自动装配工位的生产实施,提供重要的理论基础。
[Abstract]:As a new type of flexible packaging container, container liquid bag has significant economic advantages in many aspects of use, so it is widely used in chemical industry, petroleum, food, feed, etc. Agricultural products and other fields have been more widely used. However, container liquid bags in the rapid development, but also there are certain security risks. Due to the limitation of technology and equipment, the efficiency of container liquid bag production is low and the product quality is not up to standard, resulting in repeated leakage of container liquid bag. To investigate the leakage reason, the reliable and effective installation of the valve is one of the causes which can not be ignored in the leakage of the container liquid bag. In this paper, according to the process flow of container liquid bag manual production, the valve automatic assembly station of container liquid bag automatic production line is designed. Firstly, the valve assembly link in container liquid bag manual production is understood and analyzed. According to the production process requirements and process planning, the automatic device of valve automatic assembly station is designed and selected, including the design and integration of valve automatic assembly robot. Valve conveying device design and selection, automatic screw feeding device design and selection. The valve automatic assembly robot is equipped with a special assembly tool for valve automatic assembly. The special assembly tool includes the valve grab module, the positioning module, the lock screw module and the hole piercing module. Then, the structure of valve automatic assembly robot is introduced and analyzed. The kinematics model of valve automatic assembly robot is established by using D-H parameter method, and the forward and inverse kinematics analysis is carried out. Finally, the valve automatic assembly robot is simulated based on MATLAB Robotics Toolbox. Comparing the trajectory planning method of robot in joint space and Cartesian space, using the joint space trajectory planning method, combining with the three-dimensional model layout of automatic assembly station of container liquid bag valve, the trajectory planning of valve automatic assembly robot is carried out. It provides an important theoretical basis for the production and implementation of automatic valve assembly station in the automatic production line of container liquid bag.
【学位授予单位】：青岛大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TB486.3

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