【摘要】：圓環(huán)鏈兼有齒輪傳動和帶傳動的特征,在汽車、輪船、農業(yè)機械、石油化工、冶金礦山及紡織造紙等領域都得到了廣泛應用。國內現(xiàn)有的圓環(huán)鏈制造裝備存在總體技術水平相對比較落后,自動化程度不高,加工穩(wěn)定性較差,工人工作環(huán)境比較惡劣等問題。與目前世界上先進的制鏈設備相比,還存在著較大差距。因此,改進現(xiàn)有圓環(huán)鏈生產線生產模式,加快圓環(huán)鏈生產線的自動化改造迫在眉睫。本課題依托丹陽市重大科技攻關項目“大規(guī)格高強度圓環(huán)鏈自動化生產線研發(fā)”,將工業(yè)機器人引入到圓環(huán)鏈生產線中,研發(fā)一條集成工業(yè)機器人、加熱機、編鏈機、焊接機及去刺機的全自動化圓環(huán)鏈生產線。首先,針對現(xiàn)有圓環(huán)鏈生產線存在的自動化程度不高,加工穩(wěn)定性較差等問題,對圓環(huán)鏈以及現(xiàn)在采用的圓環(huán)鏈加工工藝與制鏈設備進行了深入的研究分析。結合自動化圓環(huán)鏈生產線的設計要求,在充分考慮了車間空間的利用率,圓環(huán)鏈在各工位之間的轉換,產線工人的工作環(huán)境等因素的基礎上對加熱機、編鏈機、焊接機及去刺機進行了設計,對圓環(huán)鏈生產線進行了布局,對生產線的工作流程進行了規(guī)劃,完成了對多工業(yè)機器人圓環(huán)鏈自動化生產線的開發(fā)。其次,在多工業(yè)機器人圓環(huán)鏈生產線的基礎上,運用D-H參數法建立了IRB-6620型工業(yè)機器人機械臂的關節(jié)坐標系,求解出了工業(yè)機器人的D-H參數表,建立了工業(yè)機器人的運動學方程,并對所建立的運動學方程的正反解進行了分析。基于MATLAB Robotics Toolbox對三臺IRB-6620型工業(yè)機器人在圓環(huán)鏈生產線中的運動軌跡規(guī)劃進行了研究,得到了每臺工業(yè)機器人各個關節(jié)的關節(jié)變量數據。最后,在ADAMS中建立多工業(yè)機器人圓環(huán)鏈生產線的虛擬樣機,將運用MATLAB Robotics Toolbox規(guī)劃得到的各個關節(jié)的變量值以樣條函數的形式驅動相應關節(jié)上的單分量力矩,對生產線進行了仿真,得到了各個機器人的運動軌跡曲線,驗證了規(guī)劃軌跡的正確性。此外,還通過ADAMS/Controls模塊將MATLAB與ADAMS聯(lián)合起來,對2號機器人進行了交互式仿真試驗,仿真測試了所建立的機器人系統(tǒng)的控制特性,為物理樣機的實現(xiàn)提供了依據。
[Abstract]:Ring chain, which has the characteristics of gear transmission and belt transmission, has been widely used in automobile, ship, agricultural machinery, petrochemical industry, metallurgical mining and textile and papermaking and other fields. The existing circular chain manufacturing equipment in China has some problems, such as the overall technical level is relatively backward, the degree of automation is not high, the processing stability is poor, and the working environment of workers is relatively bad. Compared with the advanced chain making equipment in the world, there is still a big gap. Therefore, it is urgent to improve the production mode of the existing ring chain production line and speed up the automatic transformation of the ring chain production line. Based on the major scientific and technological research project of Danyang City, "Research and Development of large size and High strength Circular chain Automation production Line", this paper introduces industrial robot into ring chain production line, and develops an integrated industrial robot, heating machine and chain knitting machine. Welding machine and de-piercing machine fully automatic ring chain production line. First of all, in view of the problems existing in the existing circular chain production line, such as low automation and poor machining stability, the circular chain and the current circular chain processing technology and chain making equipment are deeply studied and analyzed. Combined with the design requirements of automatic ring chain production line, on the basis of fully considering the utilization rate of workshop space, the conversion of ring chain between different stations, the working environment of production line workers and so on, the heating machine and chain knitting machine are given full consideration. The welding machine and the piercing machine are designed, the ring chain production line is laid out, the work flow of the production line is planned, and the automatic production line of multi-industrial robot ring chain is developed. Secondly, on the basis of multi-industrial robot ring chain production line, the joint coordinate system of IRB- 6620 industrial robot manipulator is established by using D 鈮，

本文編號：2480618