全自动包装机器人系统的研制

南京航空航天大学硕士学位论文全自动包装机器人系统的研制姓名：马娟娟申请学位级别：硕士专业：机械电子工程指导教师：赵东标2011-01I50kgUGPLC,IIABSTRACTPackagingrobotsaretheintelligentpackingmachineryofhighautomation,strongflexibilityandgoodreliability.Someofthemareequippedwiththefaultdiagnosisandvisualrecognitiontechnology.Currently,thepackagingrobotsthatareforpalletizing,handling,paintingandfillingaredevelopedandappliedwidely.EspeciallyintheUnitedStates,Germany,Japanandotherdevelopedcountries,thesepackagingrobotshavebeenappliedinmanyproductionlines.Withthediversifiedtendencyofpackagingfromconsumers,packagingrobotsarebecomingthenewdarlingofthepackagingindustry.Atpresent,packagingmachinesaremainlyimportedandappliedinautomationproductionlines.ThissituationseverelyrestrictedthesteadydevelopmentofChina'spackagingindustry.Aimatthe50kggradepackagingmachinesthatareinshortsupplyinchina,anautomaticpackagingmachinewhichisfortaking,sucking,weighing,fillingandsealingbagsisresearchedindependentlytoachievetheautomationofpackingprocess.First,basedontheanalysisofsamefunctionofpackagingmachinebothdomesticandabroad,aprojectproposalismadeout.Thenthethree-dimensionalmodelforthesystemismadebyUG,andthemovementinterferenceisanalysised.Andthen,accordingtothedesignofpneumaticcircuitsandPLC,hardwareandsoftwarearecombinated.Amongthem,basedondetailedanalysisofthevacuumsystem,theinfluencingfactorsontimeconsumptionforsuckingandreleasingofthevacuumsystemisfound.Thentheycanbeadjustedandimprovedtoshortentheconsumingtime.Finally,basedonthekineticcharacteristicsofpneumaticcylinders,thesequencediagramofmulti-cylinders’movementsisoptimized.Sothattheserialsequencewastransformedintoparallelsequenceandthemechanismwasefficientwithoutcollision.Achievethepurposeofimprovingthespeedonthebags.Ultimately,anticipatedperformancehasbeenreachedbytheautomaticpackagingrobotsystem.Keywords:packagingrobot,pneumaticcylinder,vacuum,sucker,sequencediagramVI1.13CM-P................................................................................52.11..................................................................................................................72.22..................................................................................................................82.33..................................................................................................................82.4................................................................................................82.5...............................................................................................................102.6...............................................................................................................112.7.......................................................................................112.8...................................................................................................................122.9......................................................................................................................132.10......................................................................................................132.11..........................................................................................................142.12...................................................................................................152.14.................................................................................172.15UG............................................................................................................172.16...................................................................................................192.17.............................................................................................................222.18........................................................................................233.1.................................................................................................263.2........................................................................................................263.3.....................................................................................................273.4........................................................................................................273.5........................................................................................................293.7.......................................................................................304.1.....................................................................................................344.2.................................................................................................354.3.................................................................................................374.4.....................................................................................................38VII4.5..............................................................................................404.6............................