本文選題：涂膠機器人 + 插補原理��； 參考：《西京學(xué)院》2015年碩士論文

【摘要】：近年來,CAD/CAM一體化三維軟件大量出現(xiàn),在機械、航空航天、汽車、造船等領(lǐng)域廣泛應(yīng)用。這些軟件推動了數(shù)字化制造技術(shù)在我國飛機行業(yè)中的發(fā)展,并逐步取代一些落后的傳統(tǒng)制造技術(shù)。涂膠是飛機制造中的一個重要工藝,這一傳統(tǒng)工藝也要求不斷更新技術(shù)實現(xiàn)自動化涂膠。但是,由于飛機的結(jié)構(gòu)和飛行環(huán)境工作狀態(tài)的特殊性等原因,目前在航空制造業(yè)中,仍然普遍采用人工密封涂膠作業(yè)。所以,急需研究開發(fā)出適應(yīng)飛機特點的密封涂膠裝備,以降低工人勞動強度、改善工人工作環(huán)境、提高密封涂膠質(zhì)量和控制涂膠重量。該論文研究目的是根據(jù)校企合作項目的技術(shù)要求,研究開發(fā)一款適用于航空制造業(yè)的密封涂膠機樣機。根據(jù)課題組的人員的分工,論文主要研究了涂膠機的運動控制策略和方法,并從以下方面做了具體研究:(1)從國內(nèi)外工業(yè)機器人的發(fā)展現(xiàn)狀,論述了開發(fā)成本低,通用性高的涂膠機器人的目的和意義。從自動化涂膠技術(shù)的功能實現(xiàn)的角度,提出了利用涂膠機器人代替?zhèn)鹘y(tǒng)人工涂膠的可行性。(2)根據(jù)機翼涂膠的功能需求,提出了選型合理的多自由度涂膠結(jié)構(gòu)。根據(jù)涂膠機整機傳動方案和工作性能需求,對涂膠機主要構(gòu)件進行了選型和配置,合理選取了有關(guān)構(gòu)件的技術(shù)參數(shù)。通過一系列優(yōu)化分析,改善涂膠機器人的動力學(xué)性能,實現(xiàn)快速、穩(wěn)定、安全的涂膠作業(yè)。(3)通過對工業(yè)機器人的插補算法進行研究,選擇并推導(dǎo)出適合自動涂膠機的插補原理和算法。插補的目的是計算如何控制各個驅(qū)動件的運動,實現(xiàn)實際涂膠軌跡的同時,盡量使涂膠點的速度均勻,以減小對膠槍出膠量變化的的要求,提高涂膠質(zhì)量,降低對膠槍出膠量的控制要求,簡化控制方法。(4)通過對涂膠機功能和控制需求的研究,設(shè)計了以PLC為主的直角坐標(biāo)機器人運動控制系統(tǒng)。硬件方面,詳細(xì)介紹了系統(tǒng)硬件的各部分功能和結(jié)構(gòu),重點介紹了伺服控制方案。軟件方面,介紹了系統(tǒng)軟件的整體結(jié)構(gòu),控制流程,重點介紹了PLC的端口分配、系統(tǒng)的插補過程和通信模式等。
[Abstract]:In recent years, CAD / CAM integrated 3D software has been widely used in the fields of machinery, aerospace, automobile, shipbuilding and so on. These software promote the development of digital manufacturing technology in the aircraft industry in China, and gradually replace some backward traditional manufacturing technology. Glue coating is an important process in aircraft manufacturing. This traditional process also requires continuous updating of technology to achieve automatic coating. However, due to the particularity of aircraft structure and flight environment, manual sealant coating is still widely used in aviation manufacturing industry. Therefore, it is urgent to study and develop sealing coating equipment suitable for aircraft characteristics in order to reduce the labor intensity of workers, improve the working environment of workers, improve the quality of sealant coating and control the weight of glue coating. The purpose of this paper is to develop a prototype of sealed rubber coating machine suitable for aviation manufacturing industry according to the technical requirements of the school-enterprise cooperation project. According to the division of labor in the research group, this paper mainly studies the motion control strategy and method of the rubber coating machine, and makes a concrete research on the following aspects: 1) from the development status of industrial robot at home and abroad, the paper discusses the low development cost. The purpose and significance of a general-purpose glue coating robot. From the point of view of the function realization of automatic coating technology, the feasibility of using glue coating robot instead of traditional manual coating is put forward. According to the functional requirements of wing coating, the multi-degree of freedom coating structure with reasonable selection is put forward. According to the transmission scheme and working performance requirement of the whole rubber coating machine, the main components of the coating machine are selected and configured, and the technical parameters of the relevant components are reasonably selected. Through a series of optimization analysis, improve the dynamic performance of the glue coating robot, realize the fast, stable and safe glue coating operation. (3) through the research on the interpolation algorithm of the industrial robot, The interpolation principle and algorithm suitable for automatic coating machine are selected and deduced. The purpose of interpolation is to calculate how to control the movement of each driving part, to realize the actual coating track, and to make the speed of the glue point as uniform as possible, so as to reduce the requirement of the change of the glue quantity of the glue gun, and to improve the quality of the glue coating. In order to reduce the control requirement of glue discharge quantity of glue gun, simplify the control method. Through the research on the function and control requirement of rubber coating machine, the motion control system of rectangular coordinate robot based on PLC is designed. In the aspect of hardware, the function and structure of each part of the system are introduced in detail, and the servo control scheme is emphasized. In the aspect of software, the whole structure and control flow of the system software are introduced, especially the port allocation of PLC, the interpolation process and communication mode of the system, etc.
【學(xué)位授予單位】：西京學(xué)院
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：V261

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