气动自动货架系统的研究与开发

【作者】 田威；

【导师】 李小宁；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2003， 硕士

【摘要】 产品或半成品的自动存取在生产中具有广泛的应用需求。大型自动化仓库虽然得到了实际应用，但由于其昂贵的成本和系统的复杂性，在一般的中、小型零件或半成品存放中还不能广泛应用。因此，研究一种低成本的、适用于中小型零件存取的自动货架，具有重要的实际价值。 论文介绍了在这些方面所做的研究工作，文中对涉及到的主要技术难点和若干关键技术进行了深入的研究与探讨。主要包括以下几个方面：(1)设计了可快速组成系统的模块化气动机械手，同时，第一次提出了“试验估参”法，来确定精确定位气缸的负载率，有效地提高了系统定位的精度和稳定性；(2)系统采用主从控制形式，实现了基于自由协议的通信方式，并且运用信号采集板卡分担PLC的信号采集工作，降低系统的成本；(3)文中提出了适合气动自动货架的优化调度策略，对搬运机械手的路径进行了优化；(4)根据系统集成化思想，系统采用了带多针接口的阀岛技术，降低了系统的成本，提高了系统的可靠性；(5)实际开发了一套小型气动自动货架系统，对所研究的技术进行了综合运用和验证，系统运行性能良好。 论文所研究的技术和方法可以为企业开发气动自动化货架系统提供参考。更多还原

【Abstract】 With the deveolopment of the automated technology in industry, the automated accessing of product or half-finished product has extensive application demand in production to. Though, large automated storage has been developed, but because of its higher cost and the complexity of system, it can not been applied extensively, especially in the condition of accessing medium-sized or small-sized goods or half-finished product. Therefore, it has actual value to study a small-sized automated storage with lower cost.The research work in these aspects has been introduced in this paper. In the writing the major technical difficulty and some crucial technology is discussed. The main contents in the paper are summaried as follows: (1) The modular pneumatic manipulator is designed which can form the system fast. At the same time, " parameter estimation by experiment" is introduced to determine the load rate of cylinder for the first time, by which the stability and precision of system position has been efficiently raised. (2) The master-slave control method is adopted in the system. The communication method based on freedom agreement has been realized. And the digital signal input card is used to share the signal collecting work of PLC. (3) In the writing, the optimized scheduling strategy has been made, which is very suitable to pneumatic automated storage. (4) According to the thought of system integration, the valve terminal technology has been adopted to reduce the cost of system and raise the reliability of system. (5) A set of small-sized pneumatic automated storage system has been developed. And the performance is perfect.The technology and method researched in this paper can be referenced by the enterprise to develop pneumatic automated storage system.更多还原