全向蠕动分拣平台的执行系统设计

发布时间：2018-11-04 07:54

【摘要】：全向蠕动分拣平台的执行系统是平台上物品实现平衡搬运与动态分拣的关键。针对目前物体搬运与分拣分开进行,同一时刻只进行一类物品的分拣的现象,本文提出了一种新型的全向蠕动分拣平台,重点介绍了全向蠕动分拣平台的执行系统设计。首先,提出了全向蠕动分拣平台系统的总体设计方案。在分析平台上物体运动过程的基础上,从整体结构、气动系统、硬件电路、软件控制四个方面介绍了全向蠕动分拣平台的执行系统。其次,采用有限元分析等方法,对执行系统的关键部件软体驱动器进行优化设计。本文提出了一种新型的双层多气道软体驱动器,能实现多重运动。根据软体驱动器的技术需求,对软体驱动器的结构尺寸进行优化,初步确立了各设计变量与目标函数之间的关系。采用有限元分析的方法,对软体驱动器的运动特性进行分析,得到了该种结构类型的软体驱动器的运动模式。再次,设计了全向蠕动分拣平台单路执行模块的硬件电路和整个执行系统的硬件电路。执行系统的硬件电路包括I/O扩展模块、AD扩展模块、中断扩展模块和CAN通讯模块。然后,设计了全向蠕动分拣平台执行系统的软件控制方案。根据控制任务,设计了整个执行系统的控制流程及相应的子控制程序。最后,搭建实验样机进行验证实验。本文所设计的单路执行模块可以实现预期运动,执行系统的硬件和软件满足系统功能需求,证明了本文设计方案的可行性和有效性。
[Abstract]:The execution system of omnidirectional peristaltic sorting platform is the key to realize balanced handling and dynamic sorting of items on the platform. This paper presents a new omnidirectional peristaltic sorting platform, focusing on the design of the execution system of the omnidirectional peristaltic sorting platform. Firstly, the overall design scheme of omnidirectional peristaltic sorting platform system is proposed. On the basis of analyzing the motion process of objects on the platform, this paper introduces the execution system of omnidirectional peristaltic sorting platform from four aspects: overall structure, pneumatic system, hardware circuit and software control. Secondly, finite element analysis is used to optimize the design of software driver, which is the key component of the executive system. In this paper, a new double-layer multi-channel soft driver is proposed, which can realize multi-motion. According to the technical requirements of the software driver, the structural size of the software driver is optimized, and the relationship between the design variables and the objective function is preliminarily established. The finite element method is used to analyze the motion characteristics of the software driver, and the motion mode of the software driver of the structure type is obtained. Thirdly, the hardware circuit of the single execution module and the hardware circuit of the whole execution system are designed for the omnidirectional peristaltic sorting platform. The hardware circuit includes I / O extension module, AD extension module, interrupt extension module and CAN communication module. Then, the software control scheme of omnidirectional peristaltic sorting platform execution system is designed. According to the control task, the control flow and the corresponding sub-control program of the whole execution system are designed. Finally, the experimental prototype is built to verify the experiment. The single path execution module designed in this paper can realize the expected motion, and the hardware and software of the execution system can meet the functional requirements of the system, which proves the feasibility and effectiveness of the design scheme in this paper.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：TP311.52

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