论文总字数：16035字

摘 要

现有一电动车后桥生产公司，该企业生产线一直以来主要依靠人工上下料、人工操控数控机床来生产产品，近年来生产效益由于人力成本的逐年增长而逐年降低，于是求助于本小组为其出谋划策。

通过对机械工程专业大学四年所学习的知识的整合，对工业物联网和机械手的深入了解及分析，本文设计了一条电动车后桥自动化生产线。生产线包括：两台数控机床、一台机械手、一辆自动导引运输车。本课题设计的生产线运转流程为：小车运输毛坯件到上料点，机械手将后桥运输到车床A，加工完后机械手再将工件运输到铣床B进行加工，加工完后机械手将成品工件运输到运货小车上，由运货小车运输到下一车间。主要针对以下四个方面进行研究：

1）AGV载物台及机械手末端执行器设计；

2）AGV和机械手等关键零部件选型；

3）搭建最小工业物联网系统；

4）运用工业物联网思维，全面分析产线成本、产能和经济效益。

预期效果：经过设计、机械安装、电气接线、编程及调试，所设计的自动上下料工作站需实现生产过程中上料、加工、下料的自动化和无人化，且满足一系列技术要求。

关键词：末端执行器；机械手；AGV；

Abstract

At present, there is an electric vehicle rear axle production company. The production line of the company has been mainly relying on manual loading and unloading, manual operation of CNC machine tools to produce products. In recent years, the production efficiency has been reduced year by year due to the annual growth of human cost, so we turn to our group for advice.

Through the integration of the knowledge learned in the Mechanical Engineering University for four years, the in-depth understanding and analysis of the industrial Internet of things and manipulator, this paper designs an automatic production line for the rear axle of electric vehicles. The production line includes two CNC machine tools, one manipulator and one automatic guided transport vehicle. The operation flow of the production line designed in this project is as follows: the trolley transports the rough parts to the loading point, the manipulator transports the rear axle to the lathe a, after processing, the manipulator transports the workpiece to the milling machine B for processing, after processing, the manipulator transports the finished workpiece to the freight car, and the freight car transports it to the next workshop. The research mainly focuses on the following four aspects:

1. Design of AGV stage and manipulator end actuator;
2. 2) Selection of key components such as AGV and manipulator;
3. 3) Build the minimum industrial Internet of things system;
4. 4) Using the thinking of industrial Internet of things, the cost, production capacity and economic benefits of production line are comprehensively analyzed.

Expected effect: after design, mechanical installation, electrical wiring, programming and debugging, the designed automatic loading and unloading workstation needs to realize automatic and unmanned loading, processing and unloading in the production process, and meet a series of technical requirements.

Keywords: end effector; manipulator; AGV;

目录

摘 要 I

Abstract II

目录 III

第一章 绪论 1

1.1 机器人发展历程 1

1.2 AGV相关发展 2

1.3课题背景 3

1.4课题设计内容及目标 4

第二章 面向电动车车桥产线装备工业互联系统架构 5

2.1 产线总体布局方案 5

2.1.1系统的功能要求 5

2.1.2系统整体设计方案 5

2.2 控制系统方案 7

2.2.1各部件控制方案 7

2.2.2各部件控制信号 7

2.3.3工作中信号的传递 9

第三章 智能小车（AGV） 11

3.1 AGV管理 11

3.1.1 AGV的选型 11

3.1.2选定AGV的参数 12

3.2 AGV载料架设计 13

第四章 机械手相关管理 15

4.1 机械手的选型 15

4.2 机械手末端执行器设计 17

4.2.1末端执行器设计流程 17

4.2.2末端执行器相关数据计算 18

4.2.3液压缸尺寸参数的确定 20

第五章 机床方案及经济效益估算 21

5.1车床、铣床 21

5.2 机床改装方案 22

5.3 经济效益分析 22

参考文献 23

致谢 25

绪论

机器人发展历程

工业机器人的发展速度较快，从国外的技术发展历程来看，主要有以下三个阶段：

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