智能物料搬运小车设计.docVIP

摘要 目前工厂的自动化程度不断提高，但工厂的生产效率并没有得到大幅度提高，而限制生产效率的主要原因是：生产线毛坯与成品的搬运均采用工人手工完成，而搬运是一件费时费力的事情。针对上述现象，本文针对上述现象重点研发一套物料搬运智能机器人，该机器人集物料抓取、物料移动、物料放置于一体，主要研究内容如下： 本文设计的物料搬运小车需要精准实现物料的搬运工作，因此本文设计的物料搬运小车选择四轮式传动。红外反射时一般是漫反射，到遇到不规则物体时，其反射信号不一定能被小车接收到，本文最终选择超声波避障的方式。本文设计的物料搬运小车需要满足不同工况的使用要求，因此本文设计的通信方式最终选择连续式通信，具体的类别为wife传输。物料识别最终也采用机器视觉技术，搬运装置选择气压式驱动的方式。行走装置控制系统选用AT89C51单片机作为中心控制单位，采用可编程序控制器(PLC)对机械手臂进行控制。 经过最大力矩和工作转速，最终选择行走装置直流电机的型号为：Z2-11小型直流电动机；本文设计的行走装置电源类型选择铅酸蓄电池，电压为12V，电池数量为2个。经过计算，回转电机选择：藤印象微形直流电机，回转齿轮的模数为圆整为2。大臂电机的型号为：3D30GN-24，小臂电机的型号为：XD-3420-2，机械爪电机的型号为：XD-15GB555，经过计算，上述所有电机的输出扭矩大于所需要的工作扭矩。验算合格。 对物料搬运小车进行虚拟模型建立，首先是要所有的零部件进行三维建模，建模完毕之后，对物料搬运小车进行虚拟模型装配，整个三维模型分为行走装置和搬运装置两个，分别利用配对，同心，对齐等命令将上述机构进行装配。 关键词：物料搬运小车、超声波避障、行走装置、虚拟建模 Abstract At present, the degree of automation of the factory continues to improve, but the production efficiency of the factory has not been greatly improved, and the main reason for limiting the production efficiency is that: the handling of the blank and finished products of the production line are completed by manual workers, and the handling is a time-consuming and laborious thing. In view of the above phenomenon, this paper focuses on the development of a set of material handling intelligent robot, the robot set material capture, material movement, material placement in one, the main research content is as follows: The material handling car designed in this paper needs to accurately realize the material handling work, so the material handling car designed in this paper chooses four-wheel drive. Infrared reflection is generally diffuse reflection. When an irregular object is encountered, its reflected signal may not be received by the car. In this paper, ultrasonic obstacle avoidance is finally chosen. The material handling car designed in this paper needs to meet the requirements of different working conditions, so the communication mode designed in this paper finally chooses continuous communication, and the specific category is Wife transmission.