本文選題：復(fù)合機(jī)器人　切入點(diǎn)：棉桶搬運(yùn)　出處：《山東科技大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著我國(guó)工業(yè)轉(zhuǎn)型升級(jí)、勞動(dòng)力成本不斷攀升以及智能發(fā)展的需要,工業(yè)領(lǐng)域“機(jī)器換人”現(xiàn)象普遍。在棉紡行業(yè),針對(duì)勞動(dòng)力短缺的現(xiàn)狀和棉紡車間高溫高濕高噪音的狀況,一款用于棉桶更換和搬運(yùn)作業(yè)的機(jī)器亟待出現(xiàn)。研究資料表明,妥善解決這類技術(shù)的原理方法至今尚未報(bào)道。本文根據(jù)紡織車間棉桶搬運(yùn)與更換的要求,研發(fā)了一種由AGV和四軸棉桶搬運(yùn)機(jī)器人組合作業(yè)的特種復(fù)合機(jī)器人,并對(duì)四軸搬運(yùn)機(jī)器人進(jìn)行了重點(diǎn)分析。主要進(jìn)行了對(duì)機(jī)器人本體結(jié)構(gòu)設(shè)計(jì)與驅(qū)動(dòng)電機(jī)選型、靜力學(xué)分析、動(dòng)態(tài)特性分析、動(dòng)力學(xué)仿真以及系統(tǒng)的實(shí)驗(yàn)測(cè)試工作。以棉桶搬運(yùn)機(jī)器人為研究對(duì)象,對(duì)機(jī)器人進(jìn)行了機(jī)械本體的結(jié)構(gòu)設(shè)計(jì)。根據(jù)棉紡車間的工作特點(diǎn),確定所要設(shè)計(jì)的機(jī)器人的結(jié)構(gòu)類型是靈活性較高的四軸關(guān)節(jié)式機(jī)器人,給出了其驅(qū)動(dòng)方式和驅(qū)動(dòng)電機(jī)選型設(shè)計(jì),建立了機(jī)器人各個(gè)部分的機(jī)械本體結(jié)構(gòu),運(yùn)用Solidworks設(shè)計(jì)了其三維結(jié)構(gòu)模型并對(duì)其進(jìn)行了干涉檢查,通過計(jì)算確定了機(jī)器人所用電機(jī)和減速器選型。通過ANSYS Workbench軟件對(duì)棉桶搬運(yùn)機(jī)器人進(jìn)行了靜力學(xué)分析,指出了機(jī)器人的薄弱環(huán)節(jié)所在,并對(duì)機(jī)器人進(jìn)行了優(yōu)化設(shè)計(jì),提高了強(qiáng)度和剛度;在靜力學(xué)分析的基礎(chǔ)上,對(duì)棉桶搬運(yùn)機(jī)器人的三個(gè)典型位姿進(jìn)行了模態(tài)分析,得到了其固有頻率和振型,找出了強(qiáng)度相對(duì)較低的部分,并提出了通過改進(jìn)結(jié)構(gòu)、增加厚度或者更換材料來提高結(jié)構(gòu)剛度特性的方案,為后續(xù)加工提供了理論參考。利用Adams進(jìn)行動(dòng)力學(xué)仿真,驗(yàn)證了各關(guān)節(jié)所受力的大小及所選電機(jī)的正確性,為以后進(jìn)行關(guān)鍵零部件的有限元分析打下基礎(chǔ)。為進(jìn)一步驗(yàn)證本課題設(shè)計(jì)方案的合理性和可靠性,對(duì)機(jī)器人進(jìn)行了系統(tǒng)調(diào)試與測(cè)試。完成對(duì)機(jī)器人加工、安裝和調(diào)試,驗(yàn)證了機(jī)器人結(jié)構(gòu)設(shè)計(jì)及運(yùn)行軌跡的合理性和可行性;對(duì)機(jī)器人位置距離準(zhǔn)確度進(jìn)行了測(cè)試,指出影響位置距離準(zhǔn)確度的主要因素是機(jī)器人基坐標(biāo)系與測(cè)量系統(tǒng)坐標(biāo)系之間的坐標(biāo)變換,提出可以通過建立機(jī)器人的距離誤差標(biāo)定模型的方式來提高距離準(zhǔn)確度。本課題在查閱大量中外密切相關(guān)技術(shù)文獻(xiàn)的基礎(chǔ)上,首次提出了一種由AGV與四軸搬運(yùn)機(jī)器人組合作業(yè)的復(fù)合機(jī)器人的設(shè)計(jì)方案。通過對(duì)比選擇、計(jì)算分析,確定了搬運(yùn)機(jī)器人的機(jī)械本體結(jié)構(gòu);通過三維建模和靜力學(xué)分析,對(duì)搬運(yùn)機(jī)器人的結(jié)構(gòu)進(jìn)行了優(yōu)化;通過對(duì)搬運(yùn)機(jī)器人進(jìn)行模態(tài)分析和動(dòng)力學(xué)仿真,明確了影響機(jī)構(gòu)動(dòng)態(tài)特性關(guān)鍵模態(tài)所在的結(jié)構(gòu),驗(yàn)證了各關(guān)節(jié)受力大小及電機(jī)選型的正確性;通過對(duì)機(jī)器人的系統(tǒng)調(diào)試與試驗(yàn)測(cè)試,驗(yàn)證了本文設(shè)計(jì)方案的正確性,為改善棉紡車間的工作環(huán)境,減輕工人的勞動(dòng)強(qiáng)度提供了有力依據(jù),對(duì)于解決“用工荒”現(xiàn)象意義重大。
[Abstract]:With the industrial transformation and upgrading of our country, the rising labor cost and the need of intelligent development, the phenomenon of "machine replacement" is common in the industrial field. In the cotton textile industry, in view of the current situation of labor shortage and the situation of high temperature, high humidity and high noise in the cotton spinning workshop, A machine for the replacement and handling of cotton barrels is urgently needed. The research data show that the principle and method of properly solving this kind of technology have not been reported. According to the requirements of cotton barrel handling and replacement in textile workshop, In this paper, a special compound robot, which is composed of AGV and four-axis cotton bucket handling robot, is developed, and the emphasis is put on the analysis of the four-axis moving robot. The structure design of the robot and the selection of driving motor are mainly carried out, and the statics analysis is carried out. Dynamic characteristic analysis, dynamic simulation and experimental test of the system. Taking the cotton bucket handling robot as the research object, the structure design of the robot's mechanical body is carried out. According to the working characteristics of the cotton spinning workshop, the structure of the robot is designed. It is determined that the structure type of the robot to be designed is a four-axis joint robot with high flexibility. The driving mode and the type selection design of the driving motor are given, and the mechanical body structure of each part of the robot is established. The three-dimensional structure model is designed by using Solidworks, and the interference inspection is carried out. The selection of motor and reducer used in the robot is determined by calculation. The statics analysis of the cotton bucket handling robot is carried out by ANSYS Workbench software. The weak link of the robot is pointed out, and the optimum design of the robot is carried out to improve the strength and stiffness. On the basis of static analysis, the modal analysis of three typical positions and poses of the cotton bucket handling robot is carried out. The natural frequency and mode shape are obtained, and the relatively low strength part is found, and the scheme of improving the structure, increasing the thickness or changing the material to improve the stiffness characteristic of the structure is put forward. A theoretical reference is provided for the subsequent machining. The dynamic simulation with Adams is carried out to verify the force size of each joint and the correctness of the selected motor. In order to further verify the rationality and reliability of the design scheme, the robot is debugged and tested systematically. The robot is processed, installed and debugged. The rationality and feasibility of robot structure design and running trajectory are verified, and the accuracy of robot position distance is tested. It is pointed out that the main factor affecting the accuracy of position distance is the coordinate transformation between the robot base coordinate system and the measurement system coordinate system. It is proposed that the distance accuracy can be improved by establishing the distance error calibration model of the robot. For the first time, this paper presents a design scheme of composite robot, which is composed of AGV and four-axis moving robot. By comparing and selecting, calculating and analyzing, the mechanical body structure of the moving robot is determined, and the three-dimensional modeling and statics analysis are carried out. The structure of the moving robot is optimized, and the structure of the key modes affecting the dynamic characteristics of the mechanism is clarified by modal analysis and dynamic simulation of the moving robot, which verifies the correctness of the force size of the joints and the selection of the motor. Through the system debugging and testing of the robot, the correctness of the design scheme is verified, which provides a powerful basis for improving the working environment of the cotton spinning workshop and reducing the labor intensity of the workers. It is of great significance to solve the phenomenon of "labor shortage".
【學(xué)位授予單位】：山東科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 鄭秀宏;李鍛能;姚松亮;;一種斜導(dǎo)面碼垛機(jī)器人結(jié)構(gòu)靜力學(xué)分析研究[J];機(jī)床與液壓;2015年09期

2 徐e，

本文編號(hào)：1609917