【作者】 吴波；

【导师】 张利；

【作者基本信息】 合肥工业大学 ， 机械电子工程， 2015， 硕士

【摘要】 目前,随着我国工业经济的快速增长,工业界各个领域内的自动化设备也在不断的增多。而在冲压行业中,大部分企业仍然采用人工手工作业,这种情况下操作者工作量繁重、生产效率低和工伤事故频发。因此,需要一种可以辅助压力机上下料的自动化机械手,不仅可以代替人工按照规定的动作进行上下料,而且还可以提高生产效率、降低工伤事故率、提高冲压工艺水平等。本文提出了一种自动化上下料机械手,并对其控制系统进行研究,以能够实现以上的需求。首先,对目前国内外机械手的研究现状及现有技术进行分析,根据实际冲压工艺的要求,对上下料机械手机械结构进行总体设计,描述机械手的工作流程。对机械手的气动系统和真空系统进行分析和参数设计。为了解决目前机械手的定位精度的问题,设计PWM控制高速开关阀控气动伺服控制系统。主要对气缸和高速开关阀的特性进行分析,建立气缸伺服控制系统的数学模型和传递函数。介绍了机械手电气控制系统设计,描述了机械手主控模块、气缸控制模块、工件吸附模块、人机交互模块和软件部分的设计。最后,提出基于BP神经网络的PID控制器对气缸伺服系统进行控制的控制策略,重点设计了BP神经网络PID控制器。基于MATLAB仿真平台,研究了基于BP神经网络PWM控制高速开关阀控气缸伺服控制系统的仿真实验。仿真结果表明,本文所研究的上下料机械手控制系统能够满足实际冲压生产的要求,在电机冲片的加工行业中具有较高的应用价值。更多还原

【Abstract】 At present, with the rapid growth of our country industrial economy, automation equipment is in constant increasing in industrial every field. However, in the punching industry, most of the factories are still manually operation, in which case the operator is of heavy workload, production efficiency is low and industrial accidents is frequently. Therefore, the plants needed an automated manipulator which can assist punching machine for putting and retrieving work-pieces. This not only can replace man operation, but also can improve productivity, reduce the rate of accidents and improve the level of punching process. This thesis presents an automated load/unload manipulator for putting and retrieving work-pieces and study its control system, which can be able to achieve the above requirements.Firstly, this thesis analyzes the research status of manipulator at home and abroad. According to the actual requirements of punching process, this thesis overall designs load/unload manipulator’s mechanical structure and describes manipulator’s workflow. Analysis manipulator’s pneumatic and vacuum systems and designs their parameters.In order to solve the positioning accuracy of manipulator, this thesis designs high-speed switching valve controlled pneumatic servo control system controlled by PWM. Mainly, analysis the characteristics of cylinder and high-speed switching valve. Establish mathematical model and transfer function of cylinder servo control system. Introduce the manipulator’s electrical control system design. Design manipulator’s master section, cylinder control section, adsorption of work-piece section, human-computer interaction and software components.Finally, this thesis uses PID controller based on BP neural network to control cylinder servo system control and focus on the design of the BP neural network PID controller. Based on MATLAB simulation platform, study the simulation of high-speed switching valve controlled cylinder servo control system controlled by PWM based on BP neural network. The simulation results show that the studied load/unload manipulator’s control system can meet the practical requirements of punching production and it has a high value in motor lamination processing industry.更多还原