本文選題：沖壓機械手 + 可編程邏輯控制器�。� 參考：《深圳大學》2017年碩士論文

【摘要】：近年來,珠三角地區(qū)企業(yè)出現(xiàn)了招工難、用工荒、用人成本上升現(xiàn)象,迫于企業(yè)競爭壓力需求,越來越多的企業(yè)引進自動化設備改造生產線使企業(yè)生產轉型升級。在傳統(tǒng)沖壓機械加工生產中,以人工操作沖床為主,工作效率低,工傷事故頻發(fā)。本文基于代替人工勞動、提高生產率為主要目的研發(fā)一種輔助壓力機快速上下料的自動化機械手的控制系統(tǒng),以滿足實際生產需求。本文首先介紹了國內外工業(yè)機械手的研究現(xiàn)狀及未來發(fā)展趨勢,確定了研究的內容和目的。分析沖壓機床的工作特點和定子硅鋼片的生產工藝過程,確定機械手的總體結構。其次,結合生產需求,分析機械手的動作流程,確定機械手控制系統(tǒng)的硬件配置方案,整個控制系統(tǒng)由西門子S7-200系列控制器、伺服電機、氣壓驅動系統(tǒng)、傳感器、觸摸屏作為人機交互和其它的電子元件組成。對上料系統(tǒng)與模具的配合進行精度需求分析,計算物料運送平臺所需要的定位精度,確定能滿足精度要求的定位控制方式,并測量物料運送平臺的綜合定位精度使其達到控制要求。再次,設計電氣控制回路系統(tǒng),完成強電部分和弱電部分線路連接,設計外部信號與控制器、伺服驅動器與控制器相關配置和接線,初步計算和配置執(zhí)行部件的運動參數,制定自動控制流程方案的和編寫軟件控制程序,該部分使得系統(tǒng)能夠按照控制要求以手動、半自動、自動和校模多種方式進行工作,設計人機交互界面對機械手進行操作控制和運行狀態(tài)進行實時監(jiān)控。最后,對伺服系統(tǒng)的PID控制參數的優(yōu)化進行研究,該部分剖析了伺服電機系統(tǒng)的工作狀態(tài),推導出永磁同步電機的狀態(tài)方程,構建伺服閉環(huán)控制系統(tǒng)的數學模型,確定其動態(tài)結構原理圖,分別采用穩(wěn)定邊界法則和粒子群算法對伺服系統(tǒng)的控制參數進行優(yōu)化分析,并在MATLAB/Simulink環(huán)境下進行建模仿真,得出基于粒子群算法整定的伺服控制參數能夠更好地滿足系統(tǒng)的快速性、準確性和穩(wěn)定性要求,使得上下料沖壓機械手具有可靠的使用性能。在現(xiàn)場完成設備的安裝后,對設備進行調試工作,確定最終的運動控制參數,經過多次的反復運行表明,本沖壓機械手工作良好、運行穩(wěn)定,完全能勝任輔助壓力機的自動上下料工作,各項指標均達到要求。
[Abstract]:In recent years, enterprises in the Pearl River Delta region have faced difficulties in recruiting, shortage of employment and rising employment costs. Under the pressure of competition, more and more enterprises have introduced automatic equipment transformation and upgrading production lines.In the traditional stamping machine production, manual operation punch machine is the main, low working efficiency, frequent industrial accidents.In this paper, an automatic manipulator control system is developed for the purpose of replacing manual labor and increasing productivity to meet the actual production demand.This paper first introduces the present situation and future development trend of industrial manipulator at home and abroad, and determines the content and purpose of the research.The working characteristics of stamping machine and the production process of stator silicon steel sheet are analyzed, and the overall structure of manipulator is determined.Secondly, according to the production demand, the operation flow of the manipulator is analyzed, and the hardware configuration of the manipulator control system is determined. The whole control system is composed of Siemens S7-200 series controller, servo motor, pneumatic drive system, sensor, etc.The touch screen is composed of man-machine interaction and other electronic components.The accuracy requirements of the feeding system and the die are analyzed, the positioning accuracy required by the material transportation platform is calculated, and the positioning control mode that can meet the precision requirements is determined.The integrated positioning accuracy of the material delivery platform is measured to meet the control requirements.Thirdly, the electrical control loop system is designed to connect the strong and weak parts of the circuit, the external signal and controller are designed, the servo driver and the controller are configured and connected, and the motion parameters of the executive parts are preliminarily calculated and configured.Making the program of automatic control flow and writing the software control program. This part enables the system to work in manual, semi-automatic, automatic and modular ways according to the control requirements.The man-machine interface is designed to control the manipulator and monitor its running state in real time.Finally, the optimization of PID control parameters of servo system is studied. In this part, the working state of servo motor system is analyzed, the state equation of permanent magnet synchronous motor is deduced, and the mathematical model of servo closed-loop control system is constructed.The dynamic structure schematic diagram is determined, and the control parameters of the servo system are optimized by using the stable boundary rule and particle swarm optimization algorithm, and the simulation is carried out under the environment of MATLAB/Simulink.It is concluded that the servo control parameters based on particle swarm optimization algorithm can better meet the requirements of system speed, accuracy and stability, so that the upper and lower stamping manipulator has reliable performance.After the installation of the equipment is completed on the spot, the equipment is debugged and the final motion control parameters are determined. The repeated operation shows that the stamping manipulator works well and runs stably.Fully competent for automatic loading and unloading of auxiliary press, each index meets the requirements.
【學位授予單位】：深圳大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TG385;TP241

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