管制玻璃瓶生产线自动上管系统的研究-机械工程专业论文.docxVIP

华中科技 大学硕士 学 华 中 科 技 大 学 硕 士 学 位 论 文 II II Abstract With the development of science and technology,the enterprises of tubular bottle industry transfer and upgrade their industrial equipment constantly. Currently,most of the working procedure are manually completed with poor working conditions and low efficiency.Using the robot technology,we try to solve how to load glass tubes automaticly. This paper mainly research on the mechanical structure and control system of automatic tube feeding system. The kinematic and dynamic model of the system have been formulated, and on base of that,the system error has been analyzed. Firstly,according to the analysis of tubular bottle production line,defining the function requirement and action flow,putting forward the overall design scheme,distributing action process reasonably. Secondly, in the process of structure design,we establish kinematic model according to D-H.The analysis includes positive and athwart,which ascertain attitude connection and location between member and implement;The article establish dynamic model according to Lagrange,which ascertain the relationship between arthosis movement and the driving force.Then we analyse the system error with a revised D-H to obtain the relationship between tiny error and accumulative error.The automatic tube feeding system has been divided into Pipeline Structure and Transfer Structure.We finish the structure design with Solidworks and analyse the clamping force of mechanical claw. Lastly, through analyzing the control process of automatic tube feeding system,this paper adopt PLC as the controlling core.The code is respectiely designed for manual operation mode and automatic operation mode. Keywords:Automatic Tube Feeding System, Kinematics, Dynamics, Error Analysis, PLC PAGE IV PAGE IV 目 录 摘要 I Abstract II 1 绪论 1.1 课题来源 (1) 1.2 课题研究的目的及意义 (1) 1.3 自动上管系统及相关技术发展现状 (2) 1.4 自动上管系统的主要性能指标与关键技术 (4) 1.5 本文主要内容 (5) 2 自动上管系统总体方案 2.1 管制玻璃瓶生产线 (6) 2.2 自动上管系统的功能分析与动作流程 (8) 2.3 自动上管