【摘要】：圓環(huán)鏈兼有齒輪傳動(dòng)和帶傳動(dòng)的特征,在汽車、輪船、農(nóng)業(yè)機(jī)械、石油化工、冶金礦山及紡織造紙等領(lǐng)域都得到了廣泛應(yīng)用。國(guó)內(nèi)現(xiàn)有的圓環(huán)鏈制造裝備存在總體技術(shù)水平相對(duì)比較落后,自動(dòng)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(jìn)的制鏈設(shè)備相比,還存在著較大差距。因此,改進(jìn)現(xiàn)有圓環(huán)鏈生產(chǎn)線生產(chǎn)模式,加快圓環(huán)鏈生產(chǎn)線的自動(dòng)化改造迫在眉睫。本課題依托丹陽市重大科技攻關(guān)項(xiàng)目“大規(guī)格高強(qiáng)度圓環(huán)鏈自動(dòng)化生產(chǎn)線研發(fā)”,將工業(yè)機(jī)器人引入到圓環(huán)鏈生產(chǎn)線中,研發(fā)一條集成工業(yè)機(jī)器人、加熱機(jī)、編鏈機(jī)、焊接機(jī)及去刺機(jī)的全自動(dòng)化圓環(huán)鏈生產(chǎn)線。首先,針對(duì)現(xiàn)有圓環(huán)鏈生產(chǎn)線存在的自動(dòng)化程度不高,加工穩(wěn)定性較差等問題,對(duì)圓環(huán)鏈以及現(xiàn)在采用的圓環(huán)鏈加工工藝與制鏈設(shè)備進(jìn)行了深入的研究分析。結(jié)合自動(dòng)化圓環(huán)鏈生產(chǎn)線的設(shè)計(jì)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(zhuǎn)換,產(chǎn)線工人的工作環(huán)境等因素的基礎(chǔ)上對(duì)加熱機(jī)、編鏈機(jī)、焊接機(jī)及去刺機(jī)進(jìn)行了設(shè)計(jì),對(duì)圓環(huán)鏈生產(chǎn)線進(jìn)行了布局,對(duì)生產(chǎn)線的工作流程進(jìn)行了規(guī)劃,完成了對(duì)多工業(yè)機(jī)器人圓環(huán)鏈自動(dòng)化生產(chǎn)線的開發(fā)。其次,在多工業(yè)機(jī)器人圓環(huán)鏈生產(chǎn)線的基礎(chǔ)上,運(yùn)用D-H參數(shù)法建立了IRB-6620型工業(yè)機(jī)器人機(jī)械臂的關(guān)節(jié)坐標(biāo)系,求解出了工業(yè)機(jī)器人的D-H參數(shù)表,建立了工業(yè)機(jī)器人的運(yùn)動(dòng)學(xué)方程,并對(duì)所建立的運(yùn)動(dòng)學(xué)方程的正反解進(jìn)行了分析�；贛ATLAB Robotics Toolbox對(duì)三臺(tái)IRB-6620型工業(yè)機(jī)器人在圓環(huán)鏈生產(chǎn)線中的運(yùn)動(dòng)軌跡規(guī)劃進(jìn)行了研究,得到了每臺(tái)工業(yè)機(jī)器人各個(gè)關(guān)節(jié)的關(guān)節(jié)變量數(shù)據(jù)。最后,在ADAMS中建立多工業(yè)機(jī)器人圓環(huán)鏈生產(chǎn)線的虛擬樣機(jī),將運(yùn)用MATLAB Robotics Toolbox規(guī)劃得到的各個(gè)關(guān)節(jié)的變量值以樣條函數(shù)的形式驅(qū)動(dòng)相應(yīng)關(guān)節(jié)上的單分量力矩,對(duì)生產(chǎn)線進(jìn)行了仿真,得到了各個(gè)機(jī)器人的運(yùn)動(dòng)軌跡曲線,驗(yàn)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(duì)2號(hào)機(jī)器人進(jìn)行了交互式仿真試驗(yàn),仿真測(cè)試了所建立的機(jī)器人系統(tǒng)的控制特性,為物理樣機(jī)的實(shí)現(xiàn)提供了依據(jù)。
[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(hào)：2480618