智能仓储搬运机械手的设计与研究

发布时间：2018-05-12 16:31

本文选题：自动化仓库 + 搬运机械手　；参考：《华北理工大学》2017年硕士论文

【摘要】：全球经济在迅速发展而对于经济全球化的推进也在稳步推进的过程中,这就使得国内外的市场竞争变得越来越残酷。而想要在激烈的经济市场竞争中处于优势地位,企业就别无选择地要全面实现工业自动化。这篇文章要设计一种用于智能化仓库的搬运机械手,主要负责将需要入库的货物搬运到货架上或从货架上取出需要的货物搬运到传送带运送出去。查阅大量关于机械手的资料,了解国内外的工业机械手产业发展概况,提出智能仓储搬运机械手的总体设计方案,分析机械手的结构组成和在自动化仓库中的工作过程,再根据机器人运动学的知识列出机械手的运动方程并对其进行分析,对几种常用的驱动方式进行比较,选择适合本机械手的电动推杆和电机共同驱动的方式,并对机械手的控制系统进行初步设计。依据机械手具体的工作需求进行关键部分的详细设计与分析,设计机械手手臂的结构,分析在搬运工作时的活动范围,以便于整个仓库系统的其他部分相配合,接着进行机械手抓手的结构设计,分析抓手和货篮的尺寸与位置关系,以便于最终调整至合适尺寸,以可以达到简化机械手的工作过程的目的,接着针对本搬运机械手的驱动装置进行详细设计分析。对本搬运机械手的控制系统进行较为详细的设计分析,选择使用欧姆龙CP1H系列PLC来控制整个系统正常运转;绘制出PLC对各执行器的控制电路图,并且安排合理的机械手工作软件控制流程。利用Matlab软件对本文所设计的智能仓储搬运机械手进行运动学仿真。
[Abstract]:With the rapid development of global economy and the steady progress of economic globalization, the market competition at home and abroad becomes more and more cruel. In order to be in a dominant position in the fierce economic market competition, enterprises have no choice but to fully realize industrial automation. This article is designed to design a kind of handling manipulator for intelligent warehouse, which is mainly responsible for carrying the goods that need to be stored on the shelf or removing the necessary goods from the shelf to the conveyor belt. Referring to a large amount of information on manipulator, understanding the general situation of industrial manipulator industry at home and abroad, putting forward the overall design scheme of intelligent warehousing handling manipulator, analyzing the structure composition of manipulator and the working process in automatic warehouse, Then, according to the knowledge of robot kinematics, the kinematics equations of manipulator are listed and analyzed, several common driving modes are compared, and the common driving mode of electric push rod and motor suitable for this manipulator is selected. The control system of manipulator is designed preliminarily. The detailed design and analysis of the key parts are carried out according to the specific working requirements of the manipulator, the structure of the manipulator arm is designed, and the range of activities in the handling work is analyzed so as to facilitate the coordination of the other parts of the whole warehouse system. Then the structure of the manipulator gripper is designed, and the relationship between the size and the position of the gripper and the cargo basket is analyzed, so as to adjust to the appropriate size finally, so as to simplify the working process of the manipulator. Then the driving device of the handling manipulator is designed and analyzed in detail. The control system of the handling manipulator is designed and analyzed in detail. OMRON CP1H series PLC is chosen to control the normal operation of the whole system, and the control circuit diagram of each actuator is drawn out by PLC. And arrange reasonable manipulator working software control flow. The kinematics simulation of intelligent warehouse handling manipulator designed in this paper is carried out by using Matlab software.
【学位授予单位】：华北理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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