曲轴搬运机械手的研究与设计

华中科技大学 硕士学位论文 曲轴搬运机械手的研究与设计 姓名：李文明 申请学位级别：硕士 专业：机械制造及其自动化Байду номын сангаас指导教师：邓建春 20070527
华 中 科 技 大 学 硕 士 学 位 论 文 摘 要
目前，我国部分企业在产品生产和加工时仍然用人力进行工件的移动和定位，一定 程度上出现了工作强度大、安全性差、操作灵活性差、定位精度低等问题，严重影响了 产品的质量和生产效益。 随着科学技术的发展和自动化生产线在企业产品生产中的广泛 应用，机械手作为自动化生产线的重要组成部分也得到了长足的发展和进步。尤其是随 着机械结构的优化，气动、液压技术的成熟，控制元件的发展和控制方式的不断改进和 创新，机械手的动作精确性、控制灵活性和工作可靠性得到了明显的改善。机械手的出 现在减轻工人劳动强度和难度、 提高工作效率和质量、 降低生产成本上做出了突出贡献， 机械手的发展在企业的发展和创收上起到了举足轻重的作用。 根据神龙汽车有限公司发动机曲轴生产线的需求实际，本文对曲轴在两个生产线之 间的搬运的自动化问题进行了探究， 对机械手各系统的实现方法进行了比较， 确定了机、 电、气一体化的设计方案，把气动、电传动和机械结构合理地融合在机械手的协调动作 中，相互之间取长补短。其中，工件的抓放通过气缸来完成，工件的移动通过伺服电机 实现， 同时采用了 SIEMENS 的 SIMATIC S7-200 系列 PLC 作为控制器， 利用 SIEMENS 的 TP070 触摸终端实现人机交互。最终达到能够安全、稳定、准确地完成搬运的目的。 首先，简单介绍了本课题的来源、意义和内容，回顾了国内外机器人（机械手）的 发展概况, 介绍了目前机器人的几种分类形式，列举出了在生产、生活上和高科技领域 中几种常见的机器人。 其次，给出了本课题的研究依据，对机械手的机械系统方案进行了设计，确定了龙 门式的整体结构和机、电、气一体化的实现方法，画出了各主要部件的机械结构图。 再次，简要地进行了机械手运动分析，对驱动、传动系统进行了方案设计，并进行 了气缸、丝杠、导轨和伺服电机等主要部件的选取和校验。 然后，从硬件和软件两方面详细介绍了 PLC 在机械手的运动控制中的应用。从工件 的检测、机械手的定位、工件的搬运、过程调速、运动缓冲到人机交互等各方面做了系 统的分析和研究。 最后，总结了全文，指出了机械手的改进措施、应用前景和发展方向。 本课题是一个机、电、气结合较为紧密的实用性项目，文中对 PLC 的应用、机械结 构的设计、控制方法的选择等方面进行了必要的探讨，在机电一体化方面进行了一定的 研究，在机械手的设计与研制方面积累了很多宝贵而实用的经验。 关键字：机械手 PLC（可编程控制器） 气动 运动控制 伺服电机
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华 中 科 技 大 学 硕 士 学 位 论 文
of driving system and transmission system, selects and checks cylinder, thread-bar, guide, servomotor and so on. Then, the writer introduces the application of the PLC in moving-control of the manipulator in detail in two respects of hardware and software, analyses and researches workpieces’ examination, manipulator’ s orientation, portage, timing, cushion and communion between man and machine . Finally, the writer summarizes the whole thesis and points out the amelioration, perspective and developing direction of the manipulator. The subject is a practical item where the mechanics, electrics and pneumatics are integrated very closely. The writer has made a necessary discussion in the application of PLC, the optimize of mechanical structure and the study of control mode and researches into the mechatronics. Many valuable and applied experiences are accumulated in integrated design. Key Words: manipulator; PLC; pneumatics; motion-control; servo-electromotor
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华 中 科 技 大 学 硕 士 学 位 论 文 Abstract
Presently, part of our Chinese corporations are still using the manpower to make the motion and orientation of work pieces in production and manufacture of the products, in part resulting in the problems such as the heavy working intensity, weak safety, poor flexibility of manipulation, low precision of orientation, and so on, which affect seriously the quality of the products and the benefit of the production. With the development of the science and technology and the application of the automobile product line in the production, the manipulator, who serves as the important part of the automobile product line, has also experienced dramatic progress and development. Especially with the improvement of the structure of the machine, the maturity of pneumatics and hydraulics, and the constant improvement of the control element such as the singlechip, PLC, the motion controller, and so on, and the ceaselessly ameliorative and innovative control mode, the precision, delicacy and reliability of the manipulator has been improved expressly, which contributed to alleviating the worker’ s labor intensity and difficulty, boosting the working efficiency and quality, reducing cost, as to play an extremely important part in the development and income of the corporations. In accordance with the practice of the ShenLong automobile corporation (ltd.)’ s demand of the engine’ s crank product line, the text will research into the problem of the automatization of the crank’ s move between two product lines, compare with the manifold realization means of each system, and confirm design project that the mechanics, electrics and pneumatics are used together. The pneumatic, electric and mechanical are combined agreeably in the coordinating actions of the manipulator, they could complement the deficiency with the other’ s advantage. In this equipment, the scratch and discharge of the work pieces is realized by a cylinder, and the motions of the work pieces is completed by two servo electromotor. Meanwhile, the writer adopts the SIEMENS’ s SIMATIC S7-200 series of PLC as controller, and made use of the SIEMENS’ s TP070 touch-screen to realize the alternation between the machinery and manipulator. It is sure that the task is completed more safely, steadily, well and truly. Firstly, the writer introduces the resource, content and practical application value of the thesis, and reviews the development of robots inside and abroad, and introduces the sort of robots, and enumerates several hackneyed robots in manufacture, life and high-tech. Secondly, the writer introduces the gist of research, designs the machine system project of the manipulator, confirms the gantry configuration and the realization way with the machinery, electricity and gas-motivated and draws the machine configuration picture of master parts. Thirdly, the writer analyses simply the kinematics of the manipulator, designs the project