多工业机器人圆环链生产线开发及轨迹规划与仿真研究

发布时间：2019-05-19 09:44

【摘要】：圆环链兼有齿轮传动和带传动的特征,在汽车、轮船、农业机械、石油化工、冶金矿山及纺织造纸等领域都得到了广泛应用。国内现有的圆环链制造装备存在总体技术水平相对比较落后,自动化程度不高,加工稳定性较差,工人工作环境比较恶劣等问题。与目前世界上先进的制链设备相比,还存在着较大差距。因此,改进现有圆环链生产线生产模式,加快圆环链生产线的自动化改造迫在眉睫。本课题依托丹阳市重大科技攻关项目“大规格高强度圆环链自动化生产线研发”,将工业机器人引入到圆环链生产线中,研发一条集成工业机器人、加热机、编链机、焊接机及去刺机的全自动化圆环链生产线。首先,针对现有圆环链生产线存在的自动化程度不高,加工稳定性较差等问题,对圆环链以及现在采用的圆环链加工工艺与制链设备进行了深入的研究分析。结合自动化圆环链生产线的设计要求,在充分考虑了车间空间的利用率,圆环链在各工位之间的转换,产线工人的工作环境等因素的基础上对加热机、编链机、焊接机及去刺机进行了设计,对圆环链生产线进行了布局,对生产线的工作流程进行了规划,完成了对多工业机器人圆环链自动化生产线的开发。其次,在多工业机器人圆环链生产线的基础上,运用D-H参数法建立了IRB-6620型工业机器人机械臂的关节坐标系,求解出了工业机器人的D-H参数表,建立了工业机器人的运动学方程,并对所建立的运动学方程的正反解进行了分析。基于MATLAB Robotics Toolbox对三台IRB-6620型工业机器人在圆环链生产线中的运动轨迹规划进行了研究,得到了每台工业机器人各个关节的关节变量数据。最后,在ADAMS中建立多工业机器人圆环链生产线的虚拟样机,将运用MATLAB Robotics Toolbox规划得到的各个关节的变量值以样条函数的形式驱动相应关节上的单分量力矩,对生产线进行了仿真,得到了各个机器人的运动轨迹曲线,验证了规划轨迹的正确性。此外,还通过ADAMS/Controls模块将MATLAB与ADAMS联合起来,对2号机器人进行了交互式仿真试验,仿真测试了所建立的机器人系统的控制特性,为物理样机的实现提供了依据。
[Abstract]:Ring chain, which has the characteristics of gear transmission and belt transmission, has been widely used in automobile, ship, agricultural machinery, petrochemical industry, metallurgical mining and textile and papermaking and other fields. The existing circular chain manufacturing equipment in China has some problems, such as the overall technical level is relatively backward, the degree of automation is not high, the processing stability is poor, and the working environment of workers is relatively bad. Compared with the advanced chain making equipment in the world, there is still a big gap. Therefore, it is urgent to improve the production mode of the existing ring chain production line and speed up the automatic transformation of the ring chain production line. Based on the major scientific and technological research project of Danyang City, "Research and Development of large size and High strength Circular chain Automation production Line", this paper introduces industrial robot into ring chain production line, and develops an integrated industrial robot, heating machine and chain knitting machine. Welding machine and de-piercing machine fully automatic ring chain production line. First of all, in view of the problems existing in the existing circular chain production line, such as low automation and poor machining stability, the circular chain and the current circular chain processing technology and chain making equipment are deeply studied and analyzed. Combined with the design requirements of automatic ring chain production line, on the basis of fully considering the utilization rate of workshop space, the conversion of ring chain between different stations, the working environment of production line workers and so on, the heating machine and chain knitting machine are given full consideration. The welding machine and the piercing machine are designed, the ring chain production line is laid out, the work flow of the production line is planned, and the automatic production line of multi-industrial robot ring chain is developed. Secondly, on the basis of multi-industrial robot ring chain production line, the joint coordinate system of IRB- 6620 industrial robot manipulator is established by using D 鈮，

本文编号：2480618