【摘要】：全向蠕動(dòng)分揀平臺(tái)的執(zhí)行系統(tǒng)是平臺(tái)上物品實(shí)現(xiàn)平衡搬運(yùn)與動(dòng)態(tài)分揀的關(guān)鍵。針對目前物體搬運(yùn)與分揀分開進(jìn)行,同一時(shí)刻只進(jìn)行一類物品的分揀的現(xiàn)象,本文提出了一種新型的全向蠕動(dòng)分揀平臺(tái),重點(diǎn)介紹了全向蠕動(dòng)分揀平臺(tái)的執(zhí)行系統(tǒng)設(shè)計(jì)。首先,提出了全向蠕動(dòng)分揀平臺(tái)系統(tǒng)的總體設(shè)計(jì)方案。在分析平臺(tái)上物體運(yùn)動(dòng)過程的基礎(chǔ)上,從整體結(jié)構(gòu)、氣動(dòng)系統(tǒng)、硬件電路、軟件控制四個(gè)方面介紹了全向蠕動(dòng)分揀平臺(tái)的執(zhí)行系統(tǒng)。其次,采用有限元分析等方法,對執(zhí)行系統(tǒng)的關(guān)鍵部件軟體驅(qū)動(dòng)器進(jìn)行優(yōu)化設(shè)計(jì)。本文提出了一種新型的雙層多氣道軟體驅(qū)動(dòng)器,能實(shí)現(xiàn)多重運(yùn)動(dòng)。根據(jù)軟體驅(qū)動(dòng)器的技術(shù)需求,對軟體驅(qū)動(dòng)器的結(jié)構(gòu)尺寸進(jìn)行優(yōu)化,初步確立了各設(shè)計(jì)變量與目標(biāo)函數(shù)之間的關(guān)系。采用有限元分析的方法,對軟體驅(qū)動(dòng)器的運(yùn)動(dòng)特性進(jìn)行分析,得到了該種結(jié)構(gòu)類型的軟體驅(qū)動(dòng)器的運(yùn)動(dòng)模式。再次,設(shè)計(jì)了全向蠕動(dòng)分揀平臺(tái)單路執(zhí)行模塊的硬件電路和整個(gè)執(zhí)行系統(tǒng)的硬件電路。執(zhí)行系統(tǒng)的硬件電路包括I/O擴(kuò)展模塊、AD擴(kuò)展模塊、中斷擴(kuò)展模塊和CAN通訊模塊。然后,設(shè)計(jì)了全向蠕動(dòng)分揀平臺(tái)執(zhí)行系統(tǒng)的軟件控制方案。根據(jù)控制任務(wù),設(shè)計(jì)了整個(gè)執(zhí)行系統(tǒng)的控制流程及相應(yīng)的子控制程序。最后,搭建實(shí)驗(yàn)樣機(jī)進(jìn)行驗(yàn)證實(shí)驗(yàn)。本文所設(shè)計(jì)的單路執(zhí)行模塊可以實(shí)現(xiàn)預(yù)期運(yùn)動(dòng),執(zhí)行系統(tǒng)的硬件和軟件滿足系統(tǒng)功能需求,證明了本文設(shè)計(jì)方案的可行性和有效性。
[Abstract]:The execution system of omnidirectional peristaltic sorting platform is the key to realize balanced handling and dynamic sorting of items on the platform. This paper presents a new omnidirectional peristaltic sorting platform, focusing on the design of the execution system of the omnidirectional peristaltic sorting platform. Firstly, the overall design scheme of omnidirectional peristaltic sorting platform system is proposed. On the basis of analyzing the motion process of objects on the platform, this paper introduces the execution system of omnidirectional peristaltic sorting platform from four aspects: overall structure, pneumatic system, hardware circuit and software control. Secondly, finite element analysis is used to optimize the design of software driver, which is the key component of the executive system. In this paper, a new double-layer multi-channel soft driver is proposed, which can realize multi-motion. According to the technical requirements of the software driver, the structural size of the software driver is optimized, and the relationship between the design variables and the objective function is preliminarily established. The finite element method is used to analyze the motion characteristics of the software driver, and the motion mode of the software driver of the structure type is obtained. Thirdly, the hardware circuit of the single execution module and the hardware circuit of the whole execution system are designed for the omnidirectional peristaltic sorting platform. The hardware circuit includes I / O extension module, AD extension module, interrupt extension module and CAN communication module. Then, the software control scheme of omnidirectional peristaltic sorting platform execution system is designed. According to the control task, the control flow and the corresponding sub-control program of the whole execution system are designed. Finally, the experimental prototype is built to verify the experiment. The single path execution module designed in this paper can realize the expected motion, and the hardware and software of the execution system can meet the functional requirements of the system, which proves the feasibility and effectiveness of the design scheme in this paper.
【學(xué)位授予單位】：東南大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：TP311.52

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