【作者】 李喆；

【导师】 呼咏；

【作者基本信息】 吉林大学 ， 机械工程（专业学位）， 2022， 硕士

【摘要】 民航机场客流量逐年增加,机场行李吞吐量不断上涨,加上近年来新冠疫情频繁肆虐,给机场的行李托运带来了很多不便。为了减轻搬运人员的劳动强度与染病风险,减少用工成本,提高民航机场的自动化程度,研究适用于民航机场的行李自动搬运系统具有重要意义。本文首先对行李自动搬运系统进行了总体方案设计,然后对行走系统、末端执行器进行了研究和设计。基于遗传算法与机构运动学对末端执行器的连杆机构进行了寻优,通过ANSYS软件对其各关键零部件进行了仿真分析,找出了结构的薄弱之处与优化方向;基于拓扑优化方法对末端执行器的夹板与连接板进行了轻量化设计,改进了结构,减轻了重量。在上述工作的基础上,对行李自动搬运系统的控制系统进行了设计与仿真,对末端执行器进行了制造,并与工业机器人进行了组装和联调。最后完成了行李自动搬运系统的抓取与码放试验与实际航班测试。本文完成的主要工作内容如下:(1)分析了当前机场行李自动搬运存在的问题与国内外发展现状,确定了行李自动搬运系统总体的研究方向与设计思路。通过对目前行李搬运装置和机场实际情况进行深入分析,对行李自动搬运系统提出了总体设计要求,并进行了总体方案设计,主要包括行李车的布置、搬运系统、滑槽的改造、视觉系统、行走系统、控制系统等。(2)对行李搬运系统的关键部件末端执行器进行了设计和制造。首先以末端执行器摇臂的最大角加速度最小与摇臂末端距夹板的距离最短作为目标函数,以机构限位作为约束函数,用遗传算法进行寻优,确定了末端执行器各零部件的尺寸;对末端执行器的气动回路进行了设计,选用了适合的气动元件和空压机;然后对关键零部件的强度与刚度进行了仿真分析,主要包括四个安装座、夹板与连接板;同时对末端执行器的夹板与连接板进行了拓扑优化;最后对末端执行器进行了加工、装配和调试。(3)对行李自动搬运系统的控制系统进行了研究和设计。首先对控制系统流程进行了设计;以轨道小车为控制对象,磁栅尺作为位置反馈设计了全闭环的控制系统,研究了电机调频控制算法,通过对整个系统进行仿真确定了PID参数;通过确定控制方案、PLC与分配端子选型等,实现了对末端执行器的控制;开发了一套搬运系统的控制算法,实现了对机场行李的自动抓取与码放,用于工控机中配合视觉系统进行使用;进一步对末端执行器的抓取算法进行了简化,可在示教器中实现其功能。(4)最后进行了行李抓取及码放试验和实际航班测试。行李抓取与码放试验主要包括多材质、多重量、多角度行李抓取与码放试验;然后进行了实际航班测试,并针对测试过程中出现的问题进行了分析,最后对控制系统进行了优化,提高了行李自动搬运系统的工作效率和稳定性。本文研究和设计的民航机场行李自动搬运系统能够实现对机场行李的自动抓取、搬运和码放,且结构简单,安全可靠,本文的研究成果为后续的行李搬运系统在机场的实际应用奠定了一定的基础,并为类似的多种类、多形状、多材质物品的抓取和搬运提供了一定的借鉴。更多还原

【Abstract】 The passenger flow of civil aviation airports has increased year by year,and the baggage throughput of the airport has continued to rise.In addition,the frequent outbreak of the new crown epidemic in recent years has brought a lot of inconvenience to the baggage check at the airport.In order to reduce the labor intensity and risk of infection of the porters,reduce labor costs,and improve the automation of civil aviation airports,it is of great significance to study the automatic baggage handling system suitable for civil aviation airports.This paper firstly designs the overall scheme of the baggage automatic handling system and then conducts a detailed study and design of the walking system and the end-effector respectively.The link mechanism of the end-effector is optimized by genetic algorithm and mechanism kinematics,and the key components are simulated and analyzed by ANSYS software,and the weak points and optimization direction of the structure are found.Based on the topology optimization method,the splint and connecting plate of the end-effector are lightweighted to improve the structure and reduce the weight.Based on the above work,the control system of the baggage automatic handling system is designed and simulated,the end-effector is manufactured,and the assembly and joint debugging with the industrial robot are carried out.Finally,the grabbing and stacking test and the actual flight test of the automatic baggage handling system are completed.The main work completed in this paper is as follows:This paper firstly designs the overall scheme of the baggage automatic handling system and then designs the walking system and the end-effector.Based on genetic algorithm and mechanism kinematics,the link mechanism of the end-effector is optimized,the key components are simulated and analyzed by ANSYS software,and the weak points and optimization direction of the structure are found.Based on the topology optimization method The splint and connecting plate of the end-effector are light-weighted,the structure is improved,and the weight is reduced.Based on the above work,the control system of the baggage automatic handling system is designed and simulated,the end-effector is manufactured,and the assembly and joint debugging with the industrial robot are carried out.Finally,the grabbing and stacking test and the actual flight test of the automatic baggage handling system are completed.The main work completed in this paper is as follows:(1)The current problems of automatic baggage handling in airports and the development status at home and abroad are analyzed and determined the overall research direction and design ideas of the automatic baggage handling system.Through the analysis of the current baggage handling device and the actual situation of the airport,the overall design requirements for the automatic baggage handling system are put forward,and the overall scheme design is carried out,which mainly includes the arrangement of the baggage cart,the handling system,the transformation of the chute,the vision system,Walking system,control system and so on.(2)Realizing the design and manufacture of the end-effector of a key component of the baggage handling system.Firstly,taking the minimum-maximum angular acceleration of the rocker arm of the end-effector and the shortest distance from the end of the rocker arm to the splint as the objective function,and the limit of the machine as the constraint function.The genetic algorithm is used for optimization to determine the size of each part of the end-effector.And then the pneumatic circuit of the end-effector is designed,and suitable pneumatic components and air compressors are selected.Finally,the strength and stiffness of the mounting seat,the splint and the connecting plate were simulated and analyzed and the topology optimized design was carried out.Under the condition of meeting the requirements of strength and stiffness,the total weight was reduced by 15 kg,the weight reduction rate reached 31%,and the end-effector was realized.Machining,assembly and commissioning were carried out.(3)The control system of the baggage automatic handling system is researched and designed.Firstly,the control system process is designed,taking the rail car as the controlled member and the magnetic scale as the position feedback,a fully closed-loop control system is designed,and the motor frequency modulation control algorithm is studied;Realizing the control of the end-effector by determining the control scheme,PLC and distribution terminal selection.Developing a set of control algorithms for the handling system to realize the automatic grabbing and stacking of airport luggage,and using it in the industrial computer with the vision system.The grasping algorithm of the end-effector is simplified furtherly and its function can be realized in the teach pendant.The PID parameters are determined by simulating the system.(4)Finally,the baggage grabbing and stacking test and the actual flight test were carried out.Tests mainly include multi-material,multi-weight,multi-angle baggage grabbing and stacking.Then the actual flight test was carried out,and problems in the test process were analyzed,finally the control system was optimized.The optimized work improves the efficiency and stability of the automatic baggage handling system in civil aviation airports.The automatic baggage handling system of civil aviation airports designed in the paper can realize the automatic grabbing,handling,and stacking of airport baggage.The system has a simple structure,safety and reliability,and it provides a certain reference for the grasping and handling of similar multi-type,multi-shape,and multi-material items.更多还原