本文選題：超聲波焊接機(jī) + 上下料機(jī)械手�。� 參考：《湖北工業(yè)大學(xué)》2017年碩士論文

【摘要】：機(jī)械手是最近幾十年發(fā)展起來的一種高科技自動(dòng)化設(shè)備,它在工業(yè)生產(chǎn)中對(duì)提高產(chǎn)品質(zhì)量和生產(chǎn)效率,改善勞動(dòng)條件以及產(chǎn)品的更新?lián)Q代起著相當(dāng)重要的作用。本文主要研究的是超聲波焊接工序中的上下料機(jī)械手,這是實(shí)現(xiàn)燈具生產(chǎn)流水線自動(dòng)化改造的重要環(huán)節(jié)。論文對(duì)國內(nèi)外上下機(jī)械手的發(fā)展現(xiàn)狀和未來發(fā)展趨勢(shì)進(jìn)行了概述,在借鑒國內(nèi)外研究成果基礎(chǔ)上,結(jié)合工作經(jīng)驗(yàn)提出了超聲波焊接工序中上下料機(jī)械手的總體架構(gòu),并對(duì)其運(yùn)動(dòng)過程進(jìn)行梳理,重點(diǎn)給出超聲波焊接工序中其各部件的工作原理,為下文研究提供理論依據(jù);對(duì)上下料機(jī)械手進(jìn)行了詳細(xì)的機(jī)械結(jié)構(gòu)設(shè)計(jì),包括執(zhí)行機(jī)構(gòu)、旋轉(zhuǎn)機(jī)構(gòu)、升降機(jī)構(gòu)等。執(zhí)行機(jī)構(gòu)中,手爪采用真空吸盤,抓取速度快,穩(wěn)定可靠,焊接不同的產(chǎn)品時(shí),只要產(chǎn)品滿足表面平整,重量較輕等要求,只需要更換超聲波焊接機(jī)的上下模具即可;旋轉(zhuǎn)機(jī)構(gòu)采用了凸輪間歇分割器,運(yùn)轉(zhuǎn)平穩(wěn),定位精度高;升降機(jī)構(gòu)采用氣缸驅(qū)動(dòng),動(dòng)作快,反應(yīng)迅速,由于氣體具有可壓縮的特點(diǎn),所以能避免系統(tǒng)過載,便于實(shí)現(xiàn)上下料機(jī)械手的自動(dòng)控制。在機(jī)械結(jié)構(gòu)設(shè)計(jì)的基礎(chǔ)上,對(duì)微處理器、電機(jī)控制、氣動(dòng)控制和人機(jī)交互進(jìn)行了設(shè)計(jì),結(jié)合電機(jī)定位控制,給出了PID定位控制方案,并對(duì)其進(jìn)行仿真,驗(yàn)證了定位控制的效果;采用SolidWorks軟件建立了上下料機(jī)械手模型,對(duì)手臂、轉(zhuǎn)盤、活動(dòng)桿等主要零部件的受力情況進(jìn)行了分析,結(jié)果表明,各主要部件的受力情況均能滿足實(shí)際工作條件的要求。使用Adams軟件對(duì)機(jī)械手的運(yùn)動(dòng)狀態(tài)進(jìn)行了分析,對(duì)其運(yùn)動(dòng)軌跡進(jìn)行了模擬,確定了機(jī)械手的實(shí)際運(yùn)動(dòng)情況與設(shè)計(jì)軌跡相符。本上下料機(jī)械手應(yīng)用在超聲波焊接工序中,動(dòng)作簡(jiǎn)單,自由度少,考慮到現(xiàn)有的生產(chǎn)條件和更新設(shè)備所用成本等眾多因素,設(shè)計(jì)中使用了眾多的常用件與標(biāo)準(zhǔn)件,制造容易,安裝也較為容易,使用維護(hù)也更加方便,使得設(shè)備成本大幅減低,具有一定的實(shí)踐應(yīng)用價(jià)值。
[Abstract]:Manipulator is a kind of high-tech automation equipment developed in recent decades. It plays a very important role in improving product quality and production efficiency, improving labor conditions and upgrading products in industrial production. This paper mainly studies the loading and unloading manipulator in the ultrasonic welding process, which is an important link to realize the automatic transformation of lamp production line. This paper summarizes the present situation and future development trend of upper and lower manipulator at home and abroad. On the basis of reference of domestic and foreign research results and combined with working experience, the overall framework of loading and unloading manipulator in ultrasonic welding process is put forward. The working principle of the components in the ultrasonic welding process is given, which provides the theoretical basis for the following research. The mechanical structure design of the loading and unloading manipulator, including the actuating mechanism, is carried out in detail. Rotating mechanism, lifting mechanism, etc. In the executing mechanism, vacuum sucker is used in the hand claw. When welding different products, only need to replace the upper and lower die of ultrasonic welding machine if the products meet the requirements of smooth surface and light weight. The rotating mechanism adopts the cam intermittent splitter, which runs smoothly and has high positioning accuracy, and the lifting mechanism is driven by cylinder, which moves quickly and reacts quickly. Because the gas has the characteristics of compressibility, it can avoid the overload of the system. Easy to realize the automatic control of the upper and lower manipulator. Based on the mechanical structure design, the microprocessor, motor control, pneumatic control and man-machine interaction are designed. Combined with the motor positioning control, the PID positioning control scheme is given, and the simulation is carried out to verify the effect of the positioning control. The model of upper and lower manipulator is established by using SolidWorks software, and the stress situation of main parts such as arm, rotating disc and movable rod is analyzed. The results show that the stress condition of each main component can meet the requirements of actual working conditions. The motion state of manipulator is analyzed by using Adams software, and its motion trajectory is simulated. The actual motion of manipulator is in accordance with the designed trajectory. The upper and lower material manipulator is used in ultrasonic welding process, with simple action and less degree of freedom. Considering many factors such as the existing production conditions and the cost of updating the equipment, many common and standard parts are used in the design, and it is easy to manufacture. It is easy to install and convenient to use and maintain, so the cost of equipment is greatly reduced, which has certain practical application value.
【學(xué)位授予單位】：湖北工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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