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摘要目前，在炸药筛选过程中，自动化程度不高，原材料的运输仍由人工搬运的方式来完成，同时，炸药又是一种易燃易爆物品，会带来生命、财产的巨大损失。而气动自动化技术现已有了长足发展，并逐渐成为能够满足许多行业生产实际要求的一种重要实用技术。因此，将气动自动化技术应用于炸药生产过程中，提高炸药搬运工作的自动化程度及安全系数，具有非常现实的意义。本论文是将气动控制技术、计算机与PLC技术结合起来，进行炸药气动搬运机械手的研制。在机械方面，该机械手主要由手臂、手爪、腰部及基座等部分构成，具有三个移动
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自由度和两个旋转自由度，分别实现机械手的提升、伸缩、夹持、旋转和摆动动作。在运动学方面，建立了炸药气动搬运机械手的运动学模型，并根据各关节运动参数，对机械手位置和姿态的正运动学方程进行求解。另外，在给定相关的位置和姿态参数的情况下，对各关节运动参数的逆运动学方程进行求解。为机械手手爪的定位以及运动路径的规划奠定了理论基础。在控制方面，控制系统是以西门子公司S7-200PLC为核心，施行指令编程方法搭建控制系统平台，达到机械手具有3个移动自由度和2个旋转自由度的搬运及动作循环。在系统软件方面，以PLC与计算机的实时通信为基础，实现了计算机对炸药搬运机械手的远程监控，并能对运行过程信息进行存储。本文研制的炸药气动搬运机械手已经建立实验模型，并进行多次试验，实现了各种预定动作及其远程监控，为机械手在炸药等易燃易爆产品生产、加工等领域的研究与应用提供了实验依据。46128
毕业论文关键词：炸药搬运；气动；机械手；PLC；PC
ABSTRACT
At present, the explosive screening process, high degree of automation, material transport still way manual handling to complete, while the explosive is a kind of flammable and explosive materials, will bring to life, the substantial damage to property. The pneumatic automation technology now has made great progress, and gradually become able to meet the actual requirements of many industries produce an important practical technology. Therefore, the pneumatic automation technology used in explosives production process, improve the degree of automation and the safety factor of explosives handling work, with a very real sense This paper is a pneumatic control technology, computer technology combined with the PLC, carry out research and explosives pneumatic handling robot. On the mechanical side, the robot is mainly composed of arm, gripper, waist and other parts of the base, with three degrees of freedom and two rotational degrees of freedom to move, respectively, to achieve the robot lifting, stretching, clamping, rotating and oscillating movement. In terms of kinematics, the establishment of explosives pneumatic handling manipulator kinematics model, and according to the joint motion parameters and the kinematics of the robot position and attitude to solve.In addition, given the position and attitude of the relevant parameters of the inverse kinematics equations of motion of each joint parameters to solve. Laid the theoretical foundation for the positioning and planning the path of movement of the robot gripper. In the control, the control system is based on Siemens S7-200PLC as the core, the purposes of instruction programming approach to building control system platform, to mobile robot has three degrees of freedom and two rotational degrees of freedom in the handling and operation cycle. In the system software, real-time communication between PLC and computer-based, and a computer for explosives handling robot remote monitoring, and is able to store information during the operation. Paper developed explosives pneumatic transfer robot experimental model has been established, and several tests to achieve a variety of predefined actions and remote monitoring for the study and application of robot in the field of explosives and other flammable products production, processing provides experimental basis.
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