【作者】 陈恒军；

【导师】 黄田； 梅江平；

【作者基本信息】 天津大学 ， 机械制造及其自动化， 2006， 硕士

【摘要】 本文密切结合某电池生产企业急需扩大产能的需求,在国家“863”高技术研究发展计划的资助下,研究用多个Diamond机械手搭建可充电电池分选装备的若干关键技术。论文取得了以下成果:在分析可充电电池分选工艺流程的基础上,提出以Diamond机械手为硬件核心,结合企业原有装备,运用局域网和数据库技术,搭建可充电电池自动分选系统的总体方案。该方案具有速度高、可重构性强、成本低,可与前、后序信息集成等的优点。基于对生产率、可靠性和制造成本的考虑,研究了多个机械手在分选装备中的布局问题。借助概率统计模型,定量分析和比较了串联、并联和混联布局的优缺点,并确定了可满足企业产能需求的最优布局方案。基于优化资源配置的考虑,采用基于PXI总线的集散型开放式控制模式建造了分选装备的软、硬件控制系统。该系统以PXI+多个运动控制器为硬件核心,并采用高速数据传输和通讯等若干软件技术实现了多个Diamond机械手的高速协调控制。实践表明,该控制系统具有集成度高、成本低,使用方便等优点。机械手最高速度达到6m/s,最大加速度为60m/s2,系统分选效率可达220p/min。本文研究成果弥补了国内高端锂离子电池自动分选装备的空白,并对我国并联机构原创技术的工程应用起到了重要的示范作用。更多还原

【Abstract】 This dissertation deals with some issues in the development of a rechargeable battery sorting system using multiple Diamond robots. The project comes from the demand of a battery industry and sponsored by the National 863 high-tech development program. The following achievements have been obtained.On the basis of a thorough investigation into the technical process of rechargeable battery production, the idea to build a battery sorting system using multiple Diamond robots is proposed. This idea takes the full advantage of reconfigurability of the modularized Diamond robot in conjunction with the use of network and database technology at system management level.The possible configurations for the use of multiple Diamond robots to build the sorting system are investigated by taking into account productivity, reliability and manufacturing cost. The advantages and disadvantages of parallel, serial and hybrid layouts are quantitatively analyzed and compared using a mathematical model, resulting in the optimized system configuration that allows to meet the required productivity with lower cost.Based upon the concept of distributed control system (DCS), the hardware of the control system for battery sorting is build using PXI platform plus two programmable motion controllers. In software development, the programming techniques that enable to implement high-speed and coordinative control of 4 Diamond robots are also proposed. The practical results show that the control system is friendly interfaced, highly integrated and cost effective. It also shows that up to 6m/s and 60 m/s2 can be achieved with the sorting productivity of 220 p/min.The outcome of this work not only setups a successful example for the use of the Diamond robot but also provides a good reference for its even wider applications in other related industries.更多还原