本文選題：自動化倉庫 + 搬運機械手��； 參考：《華北理工大學(xué)》2017年碩士論文

【摘要】：全球經(jīng)濟在迅速發(fā)展而對于經(jīng)濟全球化的推進(jìn)也在穩(wěn)步推進(jìn)的過程中,這就使得國內(nèi)外的市場競爭變得越來越殘酷。而想要在激烈的經(jīng)濟市場競爭中處于優(yōu)勢地位,企業(yè)就別無選擇地要全面實現(xiàn)工業(yè)自動化。這篇文章要設(shè)計一種用于智能化倉庫的搬運機械手,主要負(fù)責(zé)將需要入庫的貨物搬運到貨架上或從貨架上取出需要的貨物搬運到傳送帶運送出去。查閱大量關(guān)于機械手的資料,了解國內(nèi)外的工業(yè)機械手產(chǎn)業(yè)發(fā)展概況,提出智能倉儲搬運機械手的總體設(shè)計方案,分析機械手的結(jié)構(gòu)組成和在自動化倉庫中的工作過程,再根據(jù)機器人運動學(xué)的知識列出機械手的運動方程并對其進(jìn)行分析,對幾種常用的驅(qū)動方式進(jìn)行比較,選擇適合本機械手的電動推桿和電機共同驅(qū)動的方式,并對機械手的控制系統(tǒng)進(jìn)行初步設(shè)計。依據(jù)機械手具體的工作需求進(jìn)行關(guān)鍵部分的詳細(xì)設(shè)計與分析,設(shè)計機械手手臂的結(jié)構(gòu),分析在搬運工作時的活動范圍,以便于整個倉庫系統(tǒng)的其他部分相配合,接著進(jìn)行機械手抓手的結(jié)構(gòu)設(shè)計,分析抓手和貨籃的尺寸與位置關(guān)系,以便于最終調(diào)整至合適尺寸,以可以達(dá)到簡化機械手的工作過程的目的,接著針對本搬運機械手的驅(qū)動裝置進(jìn)行詳細(xì)設(shè)計分析。對本搬運機械手的控制系統(tǒng)進(jìn)行較為詳細(xì)的設(shè)計分析,選擇使用歐姆龍CP1H系列PLC來控制整個系統(tǒng)正常運轉(zhuǎn);繪制出PLC對各執(zhí)行器的控制電路圖,并且安排合理的機械手工作軟件控制流程。利用Matlab軟件對本文所設(shè)計的智能倉儲搬運機械手進(jìn)行運動學(xué)仿真。
[Abstract]:With the rapid development of global economy and the steady progress of economic globalization, the market competition at home and abroad becomes more and more cruel. In order to be in a dominant position in the fierce economic market competition, enterprises have no choice but to fully realize industrial automation. This article is designed to design a kind of handling manipulator for intelligent warehouse, which is mainly responsible for carrying the goods that need to be stored on the shelf or removing the necessary goods from the shelf to the conveyor belt. Referring to a large amount of information on manipulator, understanding the general situation of industrial manipulator industry at home and abroad, putting forward the overall design scheme of intelligent warehousing handling manipulator, analyzing the structure composition of manipulator and the working process in automatic warehouse, Then, according to the knowledge of robot kinematics, the kinematics equations of manipulator are listed and analyzed, several common driving modes are compared, and the common driving mode of electric push rod and motor suitable for this manipulator is selected. The control system of manipulator is designed preliminarily. The detailed design and analysis of the key parts are carried out according to the specific working requirements of the manipulator, the structure of the manipulator arm is designed, and the range of activities in the handling work is analyzed so as to facilitate the coordination of the other parts of the whole warehouse system. Then the structure of the manipulator gripper is designed, and the relationship between the size and the position of the gripper and the cargo basket is analyzed, so as to adjust to the appropriate size finally, so as to simplify the working process of the manipulator. Then the driving device of the handling manipulator is designed and analyzed in detail. The control system of the handling manipulator is designed and analyzed in detail. OMRON CP1H series PLC is chosen to control the normal operation of the whole system, and the control circuit diagram of each actuator is drawn out by PLC. And arrange reasonable manipulator working software control flow. The kinematics simulation of intelligent warehouse handling manipulator designed in this paper is carried out by using Matlab software.
【學(xué)位授予單位】：華北理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP241

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 劉連月;;淺議機械手PLC控制設(shè)計[J];科技致富向?qū)?2011年21期

2 周紅梅;龔民;;基于PLC控制的氣動機械手的設(shè)計與實現(xiàn)[J];科技信息;2011年14期

3 黃偉玲;;基于PLC的氣動搬運機械手設(shè)計[J];煤礦機械;2009年10期

4 李曉霞;張培軍;姬志強;;三維空間3自由度極坐標(biāo)機器人研究[J];才智;2009年03期

5 宋娟;;上下料機械手PLC控制系統(tǒng)設(shè)計[J];裝備制造技術(shù);2008年10期

6 李剛;周文寶;;直角坐標(biāo)機器人簡述及其應(yīng)用介紹[J];伺服控制;2008年09期

7 李勇成;;基于PLC的步進(jìn)電機控制在工業(yè)機械手中的應(yīng)用[J];科技信息(科學(xué)教研);2008年18期

8 牟喜東;;高速搬運機械手與自動化制造[J];國內(nèi)外機電一體化技術(shù);2007年S2期

9 李桂莉;武洪恩;劉志海;;搬運機械手的運動學(xué)分析[J];煤礦機械;2007年02期

10 張楊林;;國內(nèi)工業(yè)機器人市場及發(fā)展趨勢[J];大眾科技;2006年06期

相關(guān)碩士學(xué)位論文 前1條

1 郭聳;水平四自由度裝配機器人的設(shè)計及其運動學(xué)和動力學(xué)仿真分析[D];上海交通大學(xué);2007年

，

本文編號：1879329