超声波焊接工序中上下料机械手设计

发布时间：2018-04-26 03:35

本文选题：超声波焊接机 + 上下料机械手　；参考：《湖北工业大学》2017年硕士论文

【摘要】：机械手是最近几十年发展起来的一种高科技自动化设备,它在工业生产中对提高产品质量和生产效率,改善劳动条件以及产品的更新换代起着相当重要的作用。本文主要研究的是超声波焊接工序中的上下料机械手,这是实现灯具生产流水线自动化改造的重要环节。论文对国内外上下机械手的发展现状和未来发展趋势进行了概述,在借鉴国内外研究成果基础上,结合工作经验提出了超声波焊接工序中上下料机械手的总体架构,并对其运动过程进行梳理,重点给出超声波焊接工序中其各部件的工作原理,为下文研究提供理论依据;对上下料机械手进行了详细的机械结构设计,包括执行机构、旋转机构、升降机构等。执行机构中,手爪采用真空吸盘,抓取速度快,稳定可靠,焊接不同的产品时,只要产品满足表面平整,重量较轻等要求,只需要更换超声波焊接机的上下模具即可;旋转机构采用了凸轮间歇分割器,运转平稳,定位精度高;升降机构采用气缸驱动,动作快,反应迅速,由于气体具有可压缩的特点,所以能避免系统过载,便于实现上下料机械手的自动控制。在机械结构设计的基础上,对微处理器、电机控制、气动控制和人机交互进行了设计,结合电机定位控制,给出了PID定位控制方案,并对其进行仿真,验证了定位控制的效果;采用SolidWorks软件建立了上下料机械手模型,对手臂、转盘、活动杆等主要零部件的受力情况进行了分析,结果表明,各主要部件的受力情况均能满足实际工作条件的要求。使用Adams软件对机械手的运动状态进行了分析,对其运动轨迹进行了模拟,确定了机械手的实际运动情况与设计轨迹相符。本上下料机械手应用在超声波焊接工序中,动作简单,自由度少,考虑到现有的生产条件和更新设备所用成本等众多因素,设计中使用了众多的常用件与标准件,制造容易,安装也较为容易,使用维护也更加方便,使得设备成本大幅减低,具有一定的实践应用价值。
[Abstract]:Manipulator is a kind of high-tech automation equipment developed in recent decades. It plays a very important role in improving product quality and production efficiency, improving labor conditions and upgrading products in industrial production. This paper mainly studies the loading and unloading manipulator in the ultrasonic welding process, which is an important link to realize the automatic transformation of lamp production line. This paper summarizes the present situation and future development trend of upper and lower manipulator at home and abroad. On the basis of reference of domestic and foreign research results and combined with working experience, the overall framework of loading and unloading manipulator in ultrasonic welding process is put forward. The working principle of the components in the ultrasonic welding process is given, which provides the theoretical basis for the following research. The mechanical structure design of the loading and unloading manipulator, including the actuating mechanism, is carried out in detail. Rotating mechanism, lifting mechanism, etc. In the executing mechanism, vacuum sucker is used in the hand claw. When welding different products, only need to replace the upper and lower die of ultrasonic welding machine if the products meet the requirements of smooth surface and light weight. The rotating mechanism adopts the cam intermittent splitter, which runs smoothly and has high positioning accuracy, and the lifting mechanism is driven by cylinder, which moves quickly and reacts quickly. Because the gas has the characteristics of compressibility, it can avoid the overload of the system. Easy to realize the automatic control of the upper and lower manipulator. Based on the mechanical structure design, the microprocessor, motor control, pneumatic control and man-machine interaction are designed. Combined with the motor positioning control, the PID positioning control scheme is given, and the simulation is carried out to verify the effect of the positioning control. The model of upper and lower manipulator is established by using SolidWorks software, and the stress situation of main parts such as arm, rotating disc and movable rod is analyzed. The results show that the stress condition of each main component can meet the requirements of actual working conditions. The motion state of manipulator is analyzed by using Adams software, and its motion trajectory is simulated. The actual motion of manipulator is in accordance with the designed trajectory. The upper and lower material manipulator is used in ultrasonic welding process, with simple action and less degree of freedom. Considering many factors such as the existing production conditions and the cost of updating the equipment, many common and standard parts are used in the design, and it is easy to manufacture. It is easy to install and convenient to use and maintain, so the cost of equipment is greatly reduced, which has certain practical application value.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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