硅胶托盘自动搬运装置研究

发布时间：2018-12-13 11:34

【摘要】：近十年来,我国的自动化技术取得了飞速的发展,但与国外相比还存在着很大的差距。同时,在国内也存在着发展不均衡的现状,在一些中小城市自动化技术还有待于进一步提高。在货物存取系统中,机械手由于灵活性比较高,适合小批量生产,得到了广泛的应用,这就为机械手的发展提供了有利的条件,但采用机械手进行搬运存在很多问题。例如：对一些体积、质量比较大的物体无法实现搬运,即使能够进行移动,工作空间也受到很大的限制,无法实现大空间的移动等,严重影响企业生产效率。本文主要是针对威海市明珠硅胶有限公司的现状,生产一种自动搬运装置,提高企业的生产效率。首先对硅胶托盘装料系统方案进行研究。并联机构则具有结构稳定,动态性能好,精度高,适应性强,通用性、模块化程度高,可实现复杂构件空间结构的加工,运动十分灵活等优点。尤其是三自由度三平移并联机构,不仅结构简单、驱动元件少、造价低,运动平稳,而且具有速度高、动力性能好、刚度大的优点,适合于硅胶托盘搬运等对运动平稳性要求比较高的场合。本文通过对三平移并联机构类型进行综合分析,最终选择RPC三平移并联机构作为搬运装置,并对其工作空间、运动正反解、运动路径进行分析研究。利用ADAMS对机械手搬运与RPC三平移并联机构搬运进行运动学分析与仿真,对它们的综合性能进行比较分析,确定一种最适合硅胶托盘搬运的方式。应用UG、MATLAB和ADAMS把建模、运动学分析与参数化设计等有机地结合起来,大大简化了机械产品的设计开发过程,提高了工作效率,为硅胶托盘搬运物理样机的制造和控制奠定了良好的基础。
[Abstract]:In recent ten years, China's automation technology has made rapid development, but compared with foreign countries, there is still a big gap. At the same time, there is an uneven development in China, and automation technology needs to be further improved in some small and medium-sized cities. In the cargo access system, the manipulator has been widely used because of its high flexibility, suitable for small batch production, which provides favorable conditions for the development of the manipulator. However, there are many problems in handling the manipulator. For example, some objects with large volume and mass can not be transported, even if they can be moved, the workspace is restricted greatly, and the movement of large space can not be realized, which seriously affects the production efficiency of enterprises. According to the present situation of Weihai Mingzhu silica gel co., Ltd, an automatic handling device is produced to improve the production efficiency of the enterprise. Firstly, the project of the loading system of silica gel tray is studied. The parallel mechanism has the advantages of stable structure, good dynamic performance, high precision, strong adaptability, versatility, high modularization degree, can realize the processing of the spatial structure of complex components, and the movement is very flexible. In particular, the three-degree-of-freedom three-translational parallel mechanism not only has the advantages of simple structure, few driving elements, low cost, stable motion, but also has the advantages of high speed, good dynamic performance and high stiffness. Suitable for silicone tray handling and other high requirements for the smooth movement of the occasion. In this paper, through the comprehensive analysis of the three translation parallel mechanism types, the RPC three translation parallel mechanism is selected as the moving device, and its workspace, kinematic forward and negative solutions, and motion path are analyzed and studied. The kinematics analysis and simulation of manipulator handling and RPC tri-translational parallel mechanism are carried out by using ADAMS. The comprehensive performance of these mechanisms is compared and analyzed to determine the most suitable way for carrying silica gel pallets. UG,MATLAB and ADAMS are used to combine modeling, kinematics analysis and parametric design, which greatly simplifies the design and development process of mechanical products and improves the working efficiency. It lays a good foundation for the manufacture and control of physical prototype of silica gel tray handling.
【学位授予单位】：山东理工大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH241

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