蓝宝石LED条自动摆条机设计与运动特性研究

发布时间：2018-04-09 04:00

本文选题：自动摆条机　切入点：D-H法　出处：《哈尔滨理工大学》2015年硕士论文

【摘要】：随着工业化的发展和人们生活水平质量的不断提高,如何提高产品质量的稳定性、提高生产效率一直是企业追求的目标。因此,尽可能的实现自动化是提高企业竞争力的良好途径。本课题以某光电技术有限公司的节能灯灯芯生产线上的摆条工序现状为背景,设计出一款专门用于蓝宝石LED条自动搬运并摆放的自动摆条机,该自动摆条机结构紧凑,动作速度快,控制简单,可取代之前的人工摆条方式,实现节能灯灯芯生产的局部自动化。本文首先根据自动摆条机的送料方式和出料要求,将运动过程分为送料、吸附、搬运以及放料四个主要部分,并根据四个主要部分将自动摆条机分为送料机构、门架型机械手以及电极焊装板传送机构,然后对其进行具体的分析设计,提出自动摆条机的总体结构。然后对D-H方法的基本理论以及机械手位姿运动方程的概念进行了描述,在此基础上创建了门架型摆条机械手的连杆坐标系,并利用D-H法对摆条机械手末端操作器(吸盘)的运动学方程进行了推导,从而确定了机械手各运动构件与末端操作器空间的位置和姿态关系;并对机械手特定位置的末端位姿进行校核,并验证了摆条机械手运动学方程推导的正确性。对所占整个动作行程比例最大的搬运过程进行了时间最优轨迹规划,使机械手搬运过程运行时间最短,并利用Matlab软件对其最优轨迹进行仿真。其次,借鉴数控加工上点位加工的思想,将电极焊装板凹槽的中心看成孔群的中心,按照正交路径算法,对蓝宝石LED条的摆放顺序路径进行了规划,最终获得蓝宝石LED条的最佳摆放路径。在对自动摆条机进行运动分析和时间最优路径规划的基础之上,利用ADAMS软件进行自动摆条机的运动学模拟仿真,获得了各执行机构及吸盘的运动特性曲线,并对各执行机构的位移、速度、加速度等仿真结果进行逐个分析评价。最后搭建了自动摆条机的样机,利用TC55上位机V2.4进行了编程与实验验证,验证了研究成果的正确性和可操作性。
[Abstract]:With the development of industrialization and the continuous improvement of people's quality of life, how to improve the stability of product quality and improve the production efficiency is the goal that the enterprise pursues all the time.Therefore, as far as possible to achieve automation is a good way to improve the competitiveness of enterprises.Based on the present situation of the wobble process in the energy saving lamp wick production line of a photoelectric technology co., Ltd., this paper designs an automatic wobbling machine specially used for the automatic handling and placing of sapphire LED strip, which has a compact structure.The operation speed is fast and the control is simple. It can replace the previous manual swing and realize the local automation of the energy saving lamp wick production.In this paper, according to the feeding mode and discharge requirements of the automatic swinging machine, the moving process is divided into four main parts: feeding, adsorption, handling and discharging. According to the four main parts, the automatic swinging machine is divided into feeding mechanism.The gantry manipulator and electrode welding plate transfer mechanism are analyzed and designed, and the overall structure of automatic swing bar machine is put forward.Then, the basic theory of D-H method and the concept of kinematic equation of manipulator are described. On this basis, the linkage coordinate system of portal pendulum manipulator is established.The kinematics equation of the end manipulator (sucker) of the pendulum manipulator is deduced by using the D-H method, and the position and attitude relationship between the moving components and the terminal manipulator space of the manipulator is determined.The kinematics equation of the pendulum manipulator is proved to be correct.Time optimal trajectory planning is carried out for the handling process, which accounts for the largest proportion of the whole movement stroke, which makes the manipulator's moving process run the shortest time, and the optimal trajectory is simulated by Matlab software.Secondly, with reference to the idea of point position machining in NC machining, the center of the groove of electrode welding plate is viewed as the center of the hole group, and the sequential path of the sapphire LED strip is planned according to the orthogonal path algorithm.Finally, the best placement path of sapphire LED is obtained.Based on the kinematic analysis and time optimal path planning of the automatic swinging machine, the kinematics simulation of the automatic swinging machine is carried out by using ADAMS software, and the kinematic characteristic curves of each actuator and sucker are obtained.The simulation results of displacement, velocity and acceleration of each actuator are analyzed and evaluated one by one.Finally, the prototype of the automatic swinging machine is built, and the correctness and operability of the research results are verified by programming and experimental verification with TC55 upper computer V2.4.
【学位授予单位】：哈尔滨理工大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TM923.34

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