柑橘采摘机器人 一台五自由度的工业柑橘采摘机器人设计

柑橘采摘机器人 一台五自由度的工业柑橘采摘机器人设计 摘 要 在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业柑橘采摘机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业柑橘采摘机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业柑橘采摘机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。 本文将设计一台五自由度的工业柑橘采摘机器人，用于给采摘水果。首先，本文将设计柑橘采摘机器人的底座、大臂、小臂和机械手的结构，然后选择合适的传动方式、驱动方式，搭建柑橘采摘机器人的结构平台;在此基础上，本文将设计该柑橘采摘机器人的控制系统，包括数据采集卡和伺服放大 1 器的选择、反馈方式和反馈元件的选择、端子板电路的设计 以及控制软件的设计，重点加强控制软件的可靠性和柑橘采 摘机器人运行过程的安全性，最终实现的目标包括:关节的 伺服控制和制动问题、实时监测柑橘采摘机器人的各个关节 的运动情况、柑橘采摘机器人的示教编程和在线修改程序、 设置参考点和回参考点。 关键词:柑橘采摘机器人，示教编程，伺服，制动 ABSTRACT In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done 2 repeatedly and take high work strength, and most of these robots work in playback way. In this paper I will design an industrial robot with four DOFs, which is used to carry material for a punch. First I will design the structure of the base, the big arm, the small arm and the end manipulator of the robot, then choose proper drive method and transmission method, building the mechanical structure of the robot. On this foundation, I will design the control system of the robot, including choosing DAQ card, servo control, feedback method and designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software and the robot safety during running. The aims to realize finally include: servocontrol and brake of the joint, monitoring the movement of each joint in realtime, playback programming and modifying the program online, setting reference point and returning to reference point. KEY WORDS: robot, playback, servocontrol, brake 目 录 第1章 绪论„„„„„„„„„„„„„„„„„„„„„„„„„„ 1 3 1.1 柑橘采摘机器人概述„„„„„„„„„„„„„„„„„„„ 3 1.2 柑橘采摘机器人的历史、现状„„„„„„„„„„„„„„„„ 4 1.3 柑橘采摘机器人的发展趋势„„„„„„„„„„„„„„„„„ 5 第2章 柑橘采摘机器人机械手的设计„„„„„„„„„„5 2.1自由度及关节„„„„„„„„„„„„„„„„„„„„„„„6 2.2 基座及连杆„„„„„„„„„„„„„„„„„„„„„„„ 7 2.2.1 基座„„„„„„„„„„„„„„„„„„„„„„“„ 8 2.2.2 大臂„„„„„„„„„„„„„„„„„„„„„„„„9 2.2.3 小臂„„„„„„„„„„„„„„„„„„„„„„„„ 10 2.3 机械手的设计„„„„„„„„„„„„„„„„„„„„„„„12 2.4 驱动方式„„„„„„„„„„„„„„„„„„„„„„„„„13 2.5 传动方式„„„„„„„„„„„„„„„„„„„„„„„„„14 2.6 制动器„„„„„„„„„„„„„„„„„„„„„„„„„„15 第3章 控制系统硬件„„„„„„„“„„„„„„„„„„„„„„„16 3.1 控制系统模式的选择„„„„„„„„„„„„„„„„„„„„17 3.2 控制系统的搭建„„„„„„„„„„„„„„„„„„„„„18 3.2.1 工控机„„„„„„„„„„„„„„„„„„„„„„„19 3.2.2 数据采集卡„„„„„„„„„„„„„„„„„„„„„20 3.2.3 伺服放大器„„„„„„„„„„„„„„„„„„„„21 3.2.4 端子板„„„„„„„„„„„„„„„„„„„„„„„22 3.2.5电位器及其标定„„„„„„„„„„„„„„„„„„„22 3.2.6电源„„„„„„„„„„„„„„„„„„„„„„„„23 4 第4章 控制系统软件„„„„„„„„„„„„„„„„„„„„„„24 4.1预期的功能„„„„„„„„„„„„„„„„„„„„„„„25 4.2 实现方法„„„„„„„„„„„„„„„„„„„„„„„26 4.2.1实时显示各个关节角及运动范围控制 „„„„„„„„26 4.2.2直流电机的伺服控制„„„„„„„„„„„„„„„„„27 百度搜索“就爱阅读”,专业,生活学习,尽在就爱阅读网92to.com,您的在线图书馆 5