机翼自动涂胶机运动系统研究

发布时间：2018-06-17 09:32

本文选题：涂胶机器人 + 插补原理　；参考：《西京学院》2015年硕士论文

【摘要】：近年来,CAD/CAM一体化三维软件大量出现,在机械、航空航天、汽车、造船等领域广泛应用。这些软件推动了数字化制造技术在我国飞机行业中的发展,并逐步取代一些落后的传统制造技术。涂胶是飞机制造中的一个重要工艺,这一传统工艺也要求不断更新技术实现自动化涂胶。但是,由于飞机的结构和飞行环境工作状态的特殊性等原因,目前在航空制造业中,仍然普遍采用人工密封涂胶作业。所以,急需研究开发出适应飞机特点的密封涂胶装备,以降低工人劳动强度、改善工人工作环境、提高密封涂胶质量和控制涂胶重量。该论文研究目的是根据校企合作项目的技术要求,研究开发一款适用于航空制造业的密封涂胶机样机。根据课题组的人员的分工,论文主要研究了涂胶机的运动控制策略和方法,并从以下方面做了具体研究:(1)从国内外工业机器人的发展现状,论述了开发成本低,通用性高的涂胶机器人的目的和意义。从自动化涂胶技术的功能实现的角度,提出了利用涂胶机器人代替传统人工涂胶的可行性。(2)根据机翼涂胶的功能需求,提出了选型合理的多自由度涂胶结构。根据涂胶机整机传动方案和工作性能需求,对涂胶机主要构件进行了选型和配置,合理选取了有关构件的技术参数。通过一系列优化分析,改善涂胶机器人的动力学性能,实现快速、稳定、安全的涂胶作业。(3)通过对工业机器人的插补算法进行研究,选择并推导出适合自动涂胶机的插补原理和算法。插补的目的是计算如何控制各个驱动件的运动,实现实际涂胶轨迹的同时,尽量使涂胶点的速度均匀,以减小对胶枪出胶量变化的的要求,提高涂胶质量,降低对胶枪出胶量的控制要求,简化控制方法。(4)通过对涂胶机功能和控制需求的研究,设计了以PLC为主的直角坐标机器人运动控制系统。硬件方面,详细介绍了系统硬件的各部分功能和结构,重点介绍了伺服控制方案。软件方面,介绍了系统软件的整体结构,控制流程,重点介绍了PLC的端口分配、系统的插补过程和通信模式等。
[Abstract]:In recent years, CAD / CAM integrated 3D software has been widely used in the fields of machinery, aerospace, automobile, shipbuilding and so on. These software promote the development of digital manufacturing technology in the aircraft industry in China, and gradually replace some backward traditional manufacturing technology. Glue coating is an important process in aircraft manufacturing. This traditional process also requires continuous updating of technology to achieve automatic coating. However, due to the particularity of aircraft structure and flight environment, manual sealant coating is still widely used in aviation manufacturing industry. Therefore, it is urgent to study and develop sealing coating equipment suitable for aircraft characteristics in order to reduce the labor intensity of workers, improve the working environment of workers, improve the quality of sealant coating and control the weight of glue coating. The purpose of this paper is to develop a prototype of sealed rubber coating machine suitable for aviation manufacturing industry according to the technical requirements of the school-enterprise cooperation project. According to the division of labor in the research group, this paper mainly studies the motion control strategy and method of the rubber coating machine, and makes a concrete research on the following aspects: 1) from the development status of industrial robot at home and abroad, the paper discusses the low development cost. The purpose and significance of a general-purpose glue coating robot. From the point of view of the function realization of automatic coating technology, the feasibility of using glue coating robot instead of traditional manual coating is put forward. According to the functional requirements of wing coating, the multi-degree of freedom coating structure with reasonable selection is put forward. According to the transmission scheme and working performance requirement of the whole rubber coating machine, the main components of the coating machine are selected and configured, and the technical parameters of the relevant components are reasonably selected. Through a series of optimization analysis, improve the dynamic performance of the glue coating robot, realize the fast, stable and safe glue coating operation. (3) through the research on the interpolation algorithm of the industrial robot, The interpolation principle and algorithm suitable for automatic coating machine are selected and deduced. The purpose of interpolation is to calculate how to control the movement of each driving part, to realize the actual coating track, and to make the speed of the glue point as uniform as possible, so as to reduce the requirement of the change of the glue quantity of the glue gun, and to improve the quality of the glue coating. In order to reduce the control requirement of glue discharge quantity of glue gun, simplify the control method. Through the research on the function and control requirement of rubber coating machine, the motion control system of rectangular coordinate robot based on PLC is designed. In the aspect of hardware, the function and structure of each part of the system are introduced in detail, and the servo control scheme is emphasized. In the aspect of software, the whole structure and control flow of the system software are introduced, especially the port allocation of PLC, the interpolation process and communication mode of the system, etc.
【学位授予单位】：西京学院
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V261

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