本文選題：碼垛機(jī)械手　切入點：伺服電動機(jī)　出處：《遼寧科技大學(xué)》2015年碩士論文

【摘要】：隨著科學(xué)技術(shù)的發(fā)展,生產(chǎn)力水平的提高,人們越來越看重勞動強(qiáng)度的降低、工作環(huán)境的改善。食品、藥品、家電產(chǎn)品等產(chǎn)品流水線上的產(chǎn)品包裝對質(zhì)量和效率的要求越來越高,而傳統(tǒng)的人工包裝由于效率和包裝質(zhì)量較低,已滿足不了現(xiàn)代化生產(chǎn)的要求。目前國內(nèi)的全自動碼垛裝箱機(jī)械手大多都是進(jìn)口的,國內(nèi)自動裝箱碼垛機(jī)械手生產(chǎn)廠家相對較少,國內(nèi)市場對自動裝箱碼垛機(jī)械手的需求也比較大,我國低效率的人工裝箱碼垛和日益提高的產(chǎn)量之間的矛盾不斷加劇,使得對自動裝箱碼垛機(jī)械手的研究具有重要的經(jīng)濟(jì)效益和現(xiàn)實意義。本文設(shè)計的碼垛機(jī)械手系統(tǒng)主要是針對某小型家電企業(yè)產(chǎn)品流水線上包裝完畢的小型電器包裝盒進(jìn)行自動裝箱工作,是以STM32單片機(jī)為控制核心和以臺達(dá)伺服電機(jī)為驅(qū)動機(jī)構(gòu)控制碼垛機(jī)械手四個軸的運動來完成對小型電器包裝盒的抓取、輸送、裝箱工作。本文首先給出了碼垛機(jī)械手系統(tǒng)的組成和電氣系統(tǒng)設(shè)計,詳細(xì)介紹了碼垛機(jī)械手系統(tǒng)各個部分的組成和工作原理,設(shè)計了碼垛機(jī)械手電氣系統(tǒng)主回路原理圖。其次,本文給出了碼垛機(jī)械手控制系統(tǒng)的設(shè)計,設(shè)計了碼垛機(jī)械手控制系統(tǒng)原理框圖,設(shè)計了碼垛機(jī)械手控制系統(tǒng)的硬件電路,設(shè)計了系統(tǒng)的手持操作器和觸摸屏等人機(jī)交互系統(tǒng),介紹了交流伺服電動機(jī)和伺服驅(qū)動器。再次,本文給出了碼垛機(jī)械手系統(tǒng)控制算法的研究和軟件設(shè)計,主要建立了碼垛機(jī)械手控制系統(tǒng)運動的數(shù)學(xué)模型,設(shè)計了碼垛機(jī)械手系統(tǒng)的裝箱方案,介紹了STM32主控制板與伺服驅(qū)動器之間的RS-485通訊協(xié)議,繪制出了碼垛機(jī)械手控制系統(tǒng)的總程序流程圖,裝箱方案子程序流程圖,各個包裝盒中心位置坐標(biāo)計算子程序流程圖,碼垛機(jī)械手抓取包裝盒子程序流程圖以及STM32主控制板發(fā)送數(shù)據(jù)子程序流程圖。接著,本文對碼垛機(jī)械手系統(tǒng)的運行參數(shù)進(jìn)行分析。給出了碼垛機(jī)械手各個軸電機(jī)的額定運行參數(shù),計算出了碼垛機(jī)械手各個軸電機(jī)額定轉(zhuǎn)速下放置一個包裝盒的平均時間及完成一次裝箱工作的時間,然后分別計算出了碼垛機(jī)械手各個軸電機(jī)50%,60%,80%額定轉(zhuǎn)速下放置一個包裝盒的平均時間及完成一次裝箱工作的額時間,最后分析了碼垛機(jī)械手各個軸伺服電機(jī)應(yīng)該在60%及以上的額定轉(zhuǎn)速下運行時能夠滿足設(shè)計任務(wù)要求。最后,對碼垛機(jī)械手系統(tǒng)進(jìn)行安裝調(diào)試和試驗結(jié)果分析,主要是完成對碼垛機(jī)械手系統(tǒng)的安裝調(diào)試工作,以及抓取包裝盒的實驗結(jié)果及分析。結(jié)果表明本次設(shè)計的碼垛機(jī)械手系統(tǒng)性能良好,滿足設(shè)計要求。
[Abstract]:With the development of science and technology and the improvement of productivity, people pay more and more attention to the reduction of labor intensity and the improvement of working environment. The product packaging on pipeline, such as household appliances, requires more and more quality and efficiency, while the traditional artificial packaging is low in efficiency and packaging quality. At present, most of the domestic automatic palletizing and packing manipulators are imported, and there are relatively few domestic manufacturers of automatic packing and palletizing manipulators. The domestic market also has a large demand for automatic packing and palletizing manipulators, and the contradiction between inefficient manual packing and increasing production in our country is becoming more and more serious. The research of automatic packing and palletizing manipulator has important economic benefits and practical significance.The palletizing manipulator system designed in this paper is mainly aimed at the small electric package packaged on pipeline, a small household appliance enterprise product. Packing boxes to carry out automatic packing work, It uses STM32 single chip computer as the control core and the Dada servo motor as the driving mechanism to control the motion of the four axes of the palletizing manipulator to complete the grasping and conveying of the small electrical packaging box. In this paper, the composition of the palletizing manipulator system and the design of the electrical system are given, the composition and working principle of each part of the palletizing manipulator system are introduced in detail, and the main circuit schematic diagram of the electric system of the palletizing manipulator is designed. In this paper, the design of the control system of palletizing manipulator is given, the principle block diagram of the control system of palletizing manipulator is designed, the hardware circuit of the control system of palletizing manipulator is designed, and the man-machine interactive system such as handheld manipulator and touch screen is designed. This paper introduces AC servo motor and servo driver. Thirdly, the control algorithm and software design of palletizing manipulator system are studied, and the mathematical model of palletizing manipulator control system is established. The packing scheme of palletizing manipulator system is designed, the RS-485 communication protocol between STM32 main control board and servo driver is introduced, the general program flow chart of palletizing manipulator control system and the subroutine flow chart of packing scheme are drawn. Each box center coordinates calculation subroutine flow chart, palletizing manipulator grab package box program flow chart and STM32 main control board send data subroutine flow chart. In this paper, the operating parameters of the palletizing manipulator system are analyzed, and the rated operating parameters of each shaft motor of the palletizing manipulator are given. The average time of placing a box at rated speed of each shaft motor of the palletizing manipulator and the time of completing the first packing work are calculated. Then, the average time of placing a box at a rated speed of 80% and the time of finishing the first packing work were calculated respectively for each shaft motor of the palletizing manipulator. Finally, it is analyzed that each shaft servo motor of the palletizing manipulator should be able to meet the design requirements when running at 60% or above rated speed. Finally, the installation and debugging of the palletizing manipulator system and the analysis of the test results are carried out. The installation and debugging of the palletizing manipulator system and the experimental results and analysis of grasping the packing box are completed. The results show that the palletizing manipulator system designed in this paper has good performance and meets the design requirements.
【學(xué)位授予單位】：遼寧科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：TP241;TP368.1

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