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基于PLC控制的储煤仓升降系统设计【11张CAD图纸和说明书】

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A2-第7节筒仓.dwg
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基于 plc 控制 节制 煤仓 升降 系统 11 十一 cad 图纸 以及 说明书 仿单
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摘  要


    本设计是一种煤块在入仓过程中的防破碎技术,采用煤仓内设置升降缓冲仓的方法来实现。利用煤在下落过程中与相对较小直径的缓冲仓筒壁的摩擦减速,延长下落时间,达到减小煤块在落入仓底时的冲力,减小了煤块的破碎率,大大提高了块煤的入仓储存率。

缓冲仓结构由直径依次增大的七节可伸缩筒仓连接而成,每个上下筒仓间采用定位板和内环实现连接功能。内环上开有与定位板中线重合、个数相等的槽口,安装和拆卸时只要将筒仓沿圆周方向旋转相应角度即能完成。即避免了煤尘和细小颗粒在筒仓间伸缩腔内的堆积,又便于维修。

缓冲仓以防爆型电机为动力,经减速器和卷筒、滑轮、导向轮、制动器组成缓冲仓的升降提升系统。其中对筒仓位置、煤位的监测采用限位行程开关和自行设计的碰触点为面的压力传感器,利用S7—200PLC对筒仓位置、煤位和提升电机升降系统进行自动控制,控制操作简单,运行可靠。

在本设计中,第一突破是筒仓连接定位板的设计;第二突破是将煤位传感器的碰触点扩大到面,增大了接触面积提高了系统运行的安全性。



关键词:防破碎; 缓冲仓; 结构; 提升动力系统; PLC


ABSTRACT


This design is one kind of coal briquette in is put in storage in the process against stave technology, uses in the coal bin to establish the fluctuation cushion warehouse the method to realize. With compares minor diameter's cushion warehouse tube wall's friction deceleration relatively using the coal in the whereabouts process, the extension time of fall, achieves reduces the coal briquette when falls into the bilge the momentum, reduced the coal briquette percentage of damage, enhanced the lump coal to be put in storage the storage rate greatly.

The cushion warehouse structure seven expandable silo connections which increases in turn by the diameter becomes, between each high and low silo uses the localization board and the inner rim realizes the connection function. On, so long as the inner rim opens has with locates the board median line superposition, the integer equal notch, time the installment and the disassemblage the silo along the circumference direction revolving corresponding angle namely can complete. Namely has avoided the coal dust and the tiny pellet expands and contracts in the cavity in the silo between the stack, is also advantageous for the service.

The cushion warehouse take the explosion-proof machine as a power, after reduction gear and reel, pulley, guide wheel, brake composition cushion warehouse fluctuation lift system. And to the silo position, the coal position's monitor uses the spacing limit switch and independently designs bumps the electronic contact for the surface pressure transmitter, using S7-200PLC to the silo position, the coal position and the promotion electrical machinery jacking system carries on the automatic control, the system operation is simple, the movement is reliable.

In this design, the first breakthrough is the silo connection localization board design; The second breakthrough is bumps the coal position sensor the electronic contact to expand the surface, increased the contacted area to enhance the systems operation security.



Key word : against stave; cushion warehouse; structure; promotion dynamic system; PLC


目    录


1 序言 1

1.1引言 1

1.2概述 1

2 设计方案 3

2.1设计参数 3

2.2设计的任务 3

2.3 防破碎的方法 3

3 缓冲仓的设计 5

3.1圆筒的构造 5

3.2圆筒设计方法 7

3.3圆筒设计步骤 8

3.4 筒仓提升板的设计 14

3.5筒仓的定位板设计 15

4 提升部件的设计 16

4.1钢丝绳的选择 16

4.2 卷筒的选择 18

4.2.1 卷筒的技术要求 18

4.2.2 卷筒的计算 19

4.3钢丝绳的固定 23

4.3.1 钢丝绳在卷筒上的固定 23

4.3.2 钢丝绳在筒仓上的连接 25

5 电机和减速器的选择 26

5.1 电机的选择要求 26

5.2确定电动机的型号 27

5.3减速器的选择 29

5.3.1减速比的计算 29

5.3.2 减速器的选型 29

5.3.3减速器箱体的设计 31

5.3.4附件设计 32

5.3.5减速器的润滑与密封 33

6 滑轮和导向轮的设计 34

6.1滑轮的设计 34

6.2导向轮的设计 39

7 轴和联轴器的设计 40

7.1 轴的设计 40

7.2 联轴器的选用 43

7.3键的设计 45

7.4 轴承的选择 47

8 制动器的设计 49

8.1制动器的基本要求 49

8.2制动器的计算和选型 50

9 电气控制 52

9.1传感器和限位的设计 52

9.2电气控制过程 57

9.2.1控制流程图 57

9.2.2可编程序控制器(PLC)的特点及应用 57

9.2.3程序设计 60

9.3 PLC的设计 62

9.3.1PLC的选型 62

9.3.2PLC程序设计 64

9.4如何提高系统的可靠性 67

10 提升机及其相关设备的安装与维修保养 68

总结 73

参考文献 74

翻译部分 76

致谢 89


1 序言

1.1引言

煤炭是当前我国能源的主要组成部分之一,是国民经济保持高速增长的重要物质基础。纵观世界煤炭工业发展史,煤炭在一次能源(包括煤炭、石油、天然气、水电和可再生能源等)的产量和消费上始终占据着重要的地位。尽管在二次世界大战以后,在西方国家石油和天然气取代了煤炭,但在1973年10月的中东战争后,石油输出国组织提高了石油价格,加上中东战争对石油供应的影响以及煤炭储量的优势,煤炭资源开始重新受到了重视。特别是近期由于中东局势混乱,国际原油价格在42-45美元/桶高位运行,以石油为主要能源的行业企业受到了很大的影响。煤炭作为一种量大价廉的能源来源被重新开始认识和定位。预测未来石油价格不会出现大幅下落,煤炭将越来越得到重视。但是目前我国的煤炭工业的发展远不能满足整个国民经济的发展需要,因此必须以更快的速度发展煤炭工业。然而,高速发展煤炭工业的出路在于煤炭工业的机械化,同时在煤炭资源日益显得匮乏的时候合理而行之有效的利用成为了关键,在我国存在着能源浪费的突出情况,这其中包括能源在运输、加工等的中间环节上。煤炭资源支撑着我国大部分的国民经济领域,怎样保证我们的煤炭能得到最大化的利用非常紧迫问题,解决合适的煤块粒度是煤炭利用中的核心技术,这将直接影响煤块地利用程度。

我国的煤炭工业从小到大,从弱到强。原煤年产量从1949年的0.32亿吨到1989年的10亿吨。此后,连续10年的年产量都在10亿吨以上,在2002年达到13.93亿吨,跃居世界第一位。2003年由于强劲的需求原煤产量达到了17.36亿吨,预计2004年全年产量将达到17.5-18亿吨。我国不仅是世界上最大的煤炭生产国,而且是最大的煤炭消费国。煤炭在我国一次能源总产量和消费总量中的比例均在75%左右,目前仍占70%左右。国内70%的燃料和工业动力、60%的民用商品能源、60%的化工原料都是由煤炭来提供的。煤炭在我国的一次能源的产量和消费上都占有主导地。众所周知,块煤的售价比碎煤要高出许多,因此,对于选煤厂来说努力提高块煤产率是提高经济效益的一个十分有效的方法,从采煤工作面到选煤厂产品装车的各个环节,块煤总的破碎率约为21%,其中装仓破碎率约为10%,所以减少块煤在装仓时的破碎更是诸多环节中最重要的一环。

1.2概述

块煤的破碎机理是块煤在外力作用下遭到破坏的过程。块煤在运输过程中产生的碰撞是其形成破碎的主要表现形式,块煤所受外力大于其团聚力是破碎的成因。假设煤块与煤块或与其他物体间的碰撞为完全非弹性碰撞,碰撞后煤块的运动速度为零。因此解决块煤破碎的问题应该从两个方面入手:一是降低块煤的运动速度;二是延长块煤颗粒之间以及与其他物体之间的碰撞时间。降低块煤落底速度的方法有降低高差和以外阻力减速,降低高度差的有限位放煤法,自动放煤机(吊斗法)和套筒仓法(也称仓内小仓法)。此外阻力减速的方法有螺旋溜槽、斜坡仓法、斜板法等。延长碰撞时间的方法是在块煤落底过程中或落底时加缓冲垫,如之形缓冲和多层钢丝绳缓冲等

我所设计的这套系统是在煤块入仓下落过程中由于摩擦减速而减少摔击造成的过度粉碎,使煤块保持相对较大粒度储存,从而达到合理利用煤炭的目的。由于储煤仓的空间有限,既要考虑整个系统的可操作性又要考虑系统所占据煤仓的空间。在综合考虑以上因素以后在动力系统和控制系统上都必须符合要求,而系统的动力是绞车提升,在工业系统中绞车已经被广泛的应用,其技术和经验都已很成熟;同时PLC技术在本系统中的应用,由于PLC的稳定可靠的控制性使得系统的运行可靠性很高。


内容简介:
第 1 页翻译部分Developing a Hybrid Programmable Logic Controller Platform for a Flexible Manufacturing SystemKENVINJ.MCDERMOTT AND WENLONG ALBERT YAONew Jersey Institute of Technology, Newark, NJ 07102Abstract in this article, we act according to the programmable logical control electric circuit and the personal computer based on (personal computer machine) visual person - machine connection (MMI) and the data collection (direct action) the unit, designs and carries out a nimble processing system (flexible processing system) the implementation to control the platform. The flexible processing systems essential aspect lies in it to adapt in the operating process flexibility. The programmable controller provides the feasible solution flexibility processing system application the method, uses based on personal computers MMI/DAS, relies on the programmable logical controller to apply rapidly in the execution sequence control policy. With manages front end MMI/DAS the personal computer machine to make the visual operation contact surface, fills the powerful graph and the report tool. May or uses from personal computers information by a companys local area network the client - server technology to assign. At present, because has for the microcomputer technology and software programming technology foundation gathering, many users will discover that the programmable logical controller will be one saves the cost in the middle and small scale factory real-time control process the method, when particularly the use mixing method will supervise personal computers time. This articles main goal lies in the certificate programmable logic controller to rapid and the repeated control duty sensitivity, and to use the personal computer machine to provide the information automation the flowing and to accept the operator to operate the intention, therefore, is also provides for the user along with the request change, but changes unceasingly a monitoring process tool.1. Introduced 第 2 页That in many kinds of product manufacturing industries, the production automations form is also flexible processing system (FMS) first proposed in the 1970s. After flexible processing systems appearance enhancement labor productivity, flexible processing systems quantity large scale growth (Gruver and Zimmers1984). The entire world as a result of global competitions enhancement, the production cycle reduces gradually, and the production cost increases day by day usual, the flexible processing system is composed of group of machines or another automated workstation, forms standardized the subsystem, for example numerical control machining center, robot, vision system and a process station and so on. And this material handling system interconnection usually (Malek1991) actuates through a computer. Each standardizations system needs a standardized the control system, its different spare part by single controller. All standardizations subsystem looked like in the past equally by the computer control. These controllers carry out their task under a higher horizontal controllers surveillance. To the system, two control devices and the information flow needs to automate. The flexible processing systems essential aspect lies in its ability to change along with the control duty. This flexibility can produce the components type including it quantity and the type, the executive command, as well as improves the partial routes to flow ability. Finally, the control platform should have ability to cause the information flowing automation。Usually, some 3 kind of control platform uses in the flexible processing system: Minicomputer, miniature electronic accounting machine and programmable logical controller (Malek1991). The minicomputer is very suitable complex, large-scale, continual, rules and regulations control application. The programmable logical controller uses in rapid and the repeated logical control. The personal computer (personal computer) is suitable for the man-machine interface function. First, the programmable logical controller replace relay, for in the industry environment inland transportation extension, it may easily by workshop engineer and the attendants, is serviced by the factory electrician. At present, because has the microcomputer technology and software programming technology foundation gathering, many users will discover that the programmable logical controller will apply in the middle and small scale factory real-time control process is saves the cost method, when particularly the use mixing method will supervise.第 3 页This articles goal lies in the processing flexibility processing systems modernized technology. Proposed that the design and the data-acquisition system direct action the flexible processing system which and the personal computer controls for the programmable logical controller based on the visual person - machine connection (MMI) construction. Its structure is as follows: The first 2 parts start from the flexible processing systems description to introduce in the New Jersey engineering institute (NJIT) factory center level manufacture system. 3rd part of description flexibility processing systems operation. 4 parts and 5 parts demonstrated is the present programmable logical controller control and the personal computer gives the flexible processing system according to MMI/DAS in the NJIT application. 6 parts contain this programmable logical controller control and the personal computer the flexible processing system application superiority according to MMI/DAS the outline2. Flexible processing systems description 1.One about flexible processing system developments viewpoint as shown in Figure. It is composed of the following several parts: (Mac and Kamisetty1991; Mat, 1987). the S1 processing transmission system it is composed of 4 vehicles, A, B, C and D, the fixed equipment installs above each, to each workstation transportations two shift table, TT, TT2 and double feed way material.Processes system to develop a mix nimbly programmable logical controller platform the NASA 11 numerical control milling machines, the milling machine makes each different part according to the computer control. General Electric Company P50. A sharing robot uses for to load and unload as well as delivers in the numerical control milling machine and between the transporting stands and transports. It contains 5 computer programs which assigns by the programmable logical controller. The computer program control robot loading places delivers between the system and the car as well as the numerically-controlled machine tool and cars material. Finally two procedures are accepting or the rejection components complete. The part delivers stands this station including a gravity slanting slot, provides the unfinished raw material. This station also contains two type warehouses one accepts components rejection components computer vision system. The vision system provides the visible self-supervisory part. It is the menu actuation, 64 step density steps edge detection system. Drill hole machine has the automatic drill hole function IBM 7535 industry robot in brief, the 第 4 页flexible processing system has two kind of robots; first, the numerical control milling machine, another is the material shift expulsion system, supervises including the van and the limit switch and by General Electrics six programmable logical controller, by based on personal computers machine visual MMI/DAS monitoring vision system.3. operation description the flexibility processing systems action cycle carries on by the following way: (1) At first, transporting systems all four vans are spatial may use for raw material to install to deliver the station. the .(2)GE robot will put one after the other these four parts was swindled when these four vehicle laying aside material to these four vans they along the clockwise migration. Above first step and the second step is the flexible processing systems loading part.( 3) chart 2 demonstration is once after these four different parts are loaded the position which is accepted by four vans.(4) the van stops when the drill hole machine, the IBM robot drills various holes on the different surface. (5)GE robot transfers to the van, moves once more components vehicle on to X position, and loads into it located at on the numerical control machine tables fixed equipment.(6) the spare part is installed on the numerical control milling machine, these robots withdraw, milling machine milling these request part.(7) milling finished, the machinist moved from the milling machine fixes on milling machines spare part.(8) the robot places the end product on the identical transport vehicle.( 9) signal transmits to the visible photography examination part. (10) The signal direction robot accepts the components or the rejection components signal. (11) Robot moves a receive procedure, and the laying aside components or move a rejection procedure in a receive vessel to lay aside the components in a rejection vessel. (12)Robot to the components stands, and loads into new components the vehicle .Vehicle is issued the system, next circulation start step 3 arrive 13 step.(13) steps forms a flexible processing systems operating cycle.4. uses the programmable logical controller to control set of flexible processing system the flexibility processing systems control systems important characteristic to be as follows: Because systems trapezoidal chart logic capability system easy to form, and can adapt the change; By the similar way, the system is relatively easy to the procedure and the material; The system easy maintains, and overhauls reduces, because the online diagnosis may provide and point out the question then reduction service accurately; Obviously, the system is easy and 第 5 页computer connection. The programmable logic controller widely uses a multi-purpose industrial used computer in the industrial data processing. It can store up the instruction to sorts likely in such tool control function, adjustment, counting, control industry machine and process arithmetic, data manipulation and communication. The programmable logical controller is chosen carries out an item based on the following characteristic flexible processing systems control duty: Good reliability few space requirement and factory operating environment; Factory engineer or the technical personnel easy to maintain; If the control demand change, the procedure can change; Can with other computer network communication and the connection.In this application, the General Electric Company series 6 programmable logic controllers are loaded with a family memory bank, and I/O connection and following input and output interface: 8 port 120 volt exchange load module, 8 port 24 volt current load module, 8 port 120 volt exchange output module. the form 1 summarizes the programmable logical controller system surveillance and the control flexible processing system equipment. Like that kind of normal opening and the shutting down switch will use in a relay system. The starting switch abruption is NO, the stop switch is NC, the selection switch level provides by the chosen position closed contact. The inferior wire congress follows the normal plant to assure the security, and causes to overhaul the logical method. the flexibility processing system logic trapezoidal chart control procedure development, on the system uses an industry personal computer and special-purpose software package logic in Engineer GE work grasps 6 systems. 6 logical systems use for to expand the off-line or the connection online programmable logic controller provide renew the demonstration continuously the reference table and the program logic logical trapezoidal chart. This logic demonstrated that the mark characteristic winds through according to the stave, therefore the program execution may track. In ladder logical program according to 117 flexible processing system print., when is started, allows the van to transfer to the next station. Trapezoidal chart 20 logical, if inputs micros witch I0020 to put through or micros witch I0018 is closed or I0006 does not revolve, this time output port 00014 effective. Inputs the micros witch I0020 instruction vehicle in the correct position. Anther input port I0018 permission when system service the operator overthrows this condition. If another vehicle attends the station, inputs the port 第 6 页I0006 control vehicle to stand. The output port 00014 transmit a signal 440 to provide the energy to the solenoid, like this loosens the vehicle, so that it can the movement to the next station.5. Based on personal computers visual movement personnel connection unit because of the microprocessor technology and software techniques centralism, the microcomputer already became in the operator application very useful. The microcomputer moves MMI/DAS to have effective, the visualization to fill the useful cartography and to report tools operation connection. Can - serves the technical network from microcomputers information through the factory local area network or the use customer to carry on the transmission and the dissemination. MMI/DAS based on the personal computer vision to develop into the monitoring process and the lumber data. The MMI function is dual. First, it opens between the instruction character and a process window then demonstration on CRT the information which processes. It also allows the operator to revise the time retards the constant, or the warning determined, but has not exchanged the ladder logic, production change of demand. Next, it provides an automatic data logging equipment. It can establish approves, migration, as well as lumber assign from personal computers information through the local area network use client server technology. An application procedure through gives Windows to use a group of ready-made newest origin data, from programmable logical controller through - - the RS232 connection there based on software development personal computer. This method permits the personal computer union controller, the programming terminal, the movement man-machine connection, and data-acquisition system in identical unit. These provide some based on the personal computer MMI/DAS software actuate based on the image and the mouse to design systems control policy, with dynamic operation demonstration. Because the open style architecture characteristic, it provides the support for the user algorithm and the local area network connection technology.6. Summarizesthe this special use programmable logic controller control and obtains systems flexible manufacture system platform by the personal computer machine foundation management operation connection unit and the data is the completely automatic flexibility manufacture system platform. Flexible manufacture systems 第 7 页Fang Zhan the tendency is the reasonable price in the situation has the more open system controls and the flexibility. Therefore, the size and equipments nature is deciding this result. This programmable logical controller and the personal computer mixing management control platform has provided a price effective real-time control and the information transmission automation solution for the middle and small scale factory processing equipment. This systems progress lay in it to achieve the control system reliability, the equipment maintainability, the software maintainability and the system flexible request. This automations DAS system can give the output change and the daily output report, the progress of work report and the equipment warning as well as renewal production data ability.中文译文开发一个混合的可编程的逻辑控制器成为一个柔性加工系统平台KENVINJ.MCDERMOTT 和 WENLONG ALBERT YAO新泽西技术研究所,Newark,07102摘要在这篇文章里,我们根据可编程逻辑控制电路和个人计算机基于(个人计算机机)的视觉人-机接口(MMI)和数据收集(直接作用)单位,设计并执行一个灵活的加工系统(柔性加工系统)的实施控制站台。柔性加工系统的关键方面在于它适应操作过程中的灵活性。可编程控制器提供可行的解决柔性加工系统 申请的方法,使用基于个人计算机的 MMI/DAS,凭借可编程逻辑控制器迅速应用于执行顺序的控制策略。用经营 MMI/DAS 前端的个人计算机机做视觉操作界面,充满强有力的图形和报告的工具。来自个人计算机 的信息可以被一个公司的局域网或者使用客户机-服务器技术分配。目前,由于带有为微型计算机技术和软件编程技术的基础的会集,很多用户会发现可编程逻辑控制器在中小型工厂实时控制过程中是一个节省成本的方法,尤其是当使用混合法监督个人计算机的时候 。这篇文章的主要的目的在于证明可编程逻辑控制器对迅速和反复的控制任务的敏感性,并且为使用个人计算机机提供信息自动化的流动和接受操作者操作意图,因此,也就是为用户提供随着要求变化而不断变化的监控过程的一件工具。1 .介绍在多种产品制造业内,生产自动化的形式也是一个柔性加工系统(FMS),首先在 20 世纪 70 年代提出。自从柔性加工系统的出现提高劳动生产率之后,柔性加工系统的数量正大幅度增长(格鲁弗,1984)。整个世界由于全球竞争的增强,生产周期逐渐降低,并且生产成本日益增加。通常,柔性加工系统由一组机器或者另一个自动化工作站组成,形成第 8 页标准化的子系统,例如数控加工中心,机器人,视觉系统和一个过程站等。这些材料处理系统相互连接并且通常通过一台计算机来驱动。每个标准化的系统都需要一个标准化的控制系统,其不同的零部件被单独的控制器单一控制。所有标准化的子系统都象往常一样被计算机控制。这些控制器在一个更高的水平控制器的监督下执行他们的任务。对系统来说,两台控制装置和信息流需要自动化。柔性加工系统的关键方面在于它的能力随控制任务去变化。这种灵活性包括它能生产出零件类型的数量和种类,执行命令,以及将部分路线改进到流程的能力。最后,控制平台应该有能力使信息的流动自动化。通常,有 3 类控制平台在柔性加工系统里使用:小型计算机,微型电子计算机和可编程逻辑控制器。小型计算机很适合复杂的,大规模,连续,规章的控制应用。可编程逻辑控制器用于迅速和反复的逻辑控制。个人计算机( 个人计算机) 适于人机接口功能。首先,可编程逻辑控制器替换继电器,为了在工业环境内运转,它可以容易被车间工程师和维护人员修正,被工厂电工维修。目前,由于带有微型计算机技术和软件编程技术的基础的会集,很多用户会发现可编程逻辑控制器应用到中小型工厂实时控制过程中是一个节省成本方法,尤其是当使用混合法监督个人计算机的时。这篇文章的目的在于处理柔性加工系统的现代化技术。提出设计和数据获取系统直接作用给可编程逻辑控制器控制的柔性加工系统 和个人计算机 基于视觉人-机接口(MMI) 的建设。它的结构如下:前 2 部分从柔性加工系统的描述开始介绍在新泽西工学院(NJIT)工厂中心层的制造系统。第 3 部分描述柔性加工系统的操作。4 部分和 5 部分显示的是目前可编程逻辑控制器控制和个人计算机 根据 MMI/DAS 给柔性加工系统在 NJIT 的应用。6部分包含这个可编程逻辑控制器控制和个人计算机根据 MMI/DAS 给柔性加工系统应用优势的概要。2. 柔性加工系统的描述1. 关于柔性加工系统发展的观点如图一所示。它由下列几个部分组成:(麦克德莫特,1991; 麦克德莫特,1987)。S1 处理传达系统 它由 4 辆车组成,A,B,C 和 D,固定设备安装在每一个上面, 到每个工作站的运输的两份转移表,TT 、TT2 和双输送装置材料。图 1 为 NASA11 台数控铣床,铣床根据计算机控制制造每个不同的部分。通用电气公司 P50 机器人,一个共享的机器人用来装卸在数控铣床与搬运系统之间以及递送站和搬运系统之间的材料。它包含由可编程逻辑控制器分配的 5 个计算机程序。计算机程序控制机器人装载放在递送系统和小车以及数控机床和小车之间的材料。 最后两个程序在接受或者拒绝零件完成。第 9 页部分递送站,这个站包括一个重力斜槽沟,提供未加工原料。这个站也包含两种类型仓,一个是接受零件一个拒绝零件。计算机视觉系统,这个视觉系统提供可视的自动监视部分。 它是菜单驱动,64 步灰度等级,边缘察觉系统。图 1 钻孔机器。一个具有自动钻孔功能的 IBM 7535 工业机器人。总之, 柔性加工系统具有二类机器人,一是数控铣床,另一个是物料转移输送系统,包括搬运车及其限位开关和一个由通用电器公司的六台可编程逻辑控制器监督的、由基于个人计算机机的视觉 MMI / DAS 的监控视觉系统。3.操作的描述柔性加工系统的工作周期以以下的方式进行:1.最初,搬运系统的所有的四辆搬运车都是空的可以用来将原材料装到递送站。2.GE 机器人将这四部分一个接一个地放到这四辆搬运车上当这四辆车放置物料时它们会沿顺时针移动。上面的第一步和第二步是柔性加工系统的装载部分。3.图 2 显示的是一旦这四个不同部分被装载后的被四辆搬运车所接受的位置。4.当搬运车停止在钻孔机器时,IBM 机器人在不同的面上钻各种各样的
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