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机器人控制器可靠性分析与设计
黄勇
学位类型工学硕士
导师谭民
2000-06-01
学位授予单位中国科学院自动化研究所
学位授予地点中国科学院自动化研究所
学位专业控制理论与控制工程
关键词工业机器人 控制器 可靠性 失效率 平均无故障时间 可靠性预计 可靠性热设计 Industrial Robot Controller Reliability Failure Ratio Mean Time Before Failure Prediction Of Reliability Thermal Design Of Relia
摘要在现代制造业生产中,工业机器人的应用正在向更深更广的领域扩 展。工业机器人的可靠性作为衡量工业机器人质量好坏的主要技术指 标,正受到越来越多的关注。工业机器人实用化和商品化的关键在于可 靠性、维修性、安全性和成本,所以在工业机器人的设计、制造和应用 的一开始就应注意其可靠性问题,可靠性分析与设计已成为当今工业机 器人生产中必不可少的一部分。 本文针对工业机器人生产的实际,重点讨论了工业机器人可靠性分 析与设计的方法。首先简要介绍了可靠性的相关理论,提出了可靠度, 不可靠度,失效率,平均无故障时间等衡量可靠性的重要指标,并给出 了各项指标之间的互相联系。然后结合工业机器人的生产实际,着重讨 论了以下几个方面: 1.可靠性预计。可靠性预计是在设计阶段定量地估计未来产品可靠 性的方法。本文讨论了可靠性预计的目的、意义和方法,并以某种 型号的点焊机器人控制器为例,进行了可靠性预计。预计采用元器 件应力分析法,从元器件开始,依据美国军用标准MIL-HDBK- 217E,根据不同的环境、应力,进行元器件的可靠性预计,然后对 系统进行可靠性预计。 2.可靠性热设计。本文介绍了热设计的目的、要求、方法等基本问 题,并以某种型号的弧焊机器人为例进行了可靠性热设计。根据控 制柜的热流密度,合理地评价控制柜的尺寸;建立控制柜内温度与 热流量的机理模型,利用“电网络模拟法”进行分析,得到控制柜 内外温度的关系表达式;提供热设计方案,并进行控制柜实时环境 下的温度测试。 3.可靠性分析软件。本文提供了可靠性分析软件的研究背景,研究 目标和研究内容等,并给出了软件的运行简介。该软件工具使得可 靠性的分析工作更加标准化和规范化,将分析人员从繁琐的数据库 操作、维护及手工计算中解放出来,节省了人力和物力。 针对工业机器人控制器,我们的研究主要就是围绕以上几个方面来 开展。通过可靠性预计,可以对控制器选用的元器件进行重要度分析, 发现薄弱环节,提出改进措施与建议;通过热设计,可以针对热量的传 播方式,研究各种控制热量的方法,以达到减少温升保证控制器的稳定 性;通过可靠性分析软件,可以大大减轻由于数据库操作和手工计算带 来的繁琐和不确定性,在实际操作上形成一个系统化、规范化的程序。 针对工业机器人控制器的可靠性分析与设计,能够提高工业机器人控制
其他摘要In modem manufacturing industry, the applications of industrial robots are expanded to deeper and broader fields. As one of the main technical indices of industrial robots' quality, reliability is being paid more and more attention. The crux of industrial robots' practicality and commerciality are: reliability, maintainability, safety and cost. Therefore, at the beginning of the designing, manufacturing and application of industrial robots, attentions should be paid to the reliability of industrial robots. The analysis and design of reliability have been one of the imperative parts in the production of modern industrial robots. Based on the reality of the production of industrial robots, the analyzing and designing methods of reliability for industrial robots are discussed in this dissertation. The related reliability theories are introduced, such important indices as reliability, unreliability, failure ratio and Mean Time Before Failure (MTBF) are put forward, and the relationships between these indices are given. Then the following issues are emphasized in detail: 1. Prediction of Reliability. The Prediction of Reliability is the method which estimates the reliability of future products quantificationally in the designing stage. The purpose, meaning and means are discussed, the prediction of reliability is carried out with the exemplification of a spot- welding robot controller. The prediction uses the Component Stress Analyzing Method, based on the U.S. Military Standard MIL-HDBK- 217E, predicts the reliability of different components according to their environments and stresses. Then the prediction of reliability of the system is proceeded. 2. Thermal Design of Reliability. The purpose, requirements and means are introduced, the thermal design of reliability is carried out with the exemplification of an arc-welding robot controller. The size of the controller box is appraised, according to the heat density of the controller box. Using a circuit simulation method, the mechanism model of the temperature and heat flow in the controller box is set up, and the expressions on the relationship of inside and outside temperatures of the controller box can be derived. Several improvement schemes of thermal design are put forward, and real time temperature test of the controller box is carried out. 3. The Software of Reliability Analyzing. The background, purpose and contents of the research on the software are given, and the running introduction of the software is presented. The software makes the analyzing of reliability more standardized, relieves the analyzers of the trivial works of database operation, maintenance and manual calculations, thus saves manpower and material resources. Based on the industrial robot controller
馆藏号XWLW585
其他标识符585
语种中文
文献类型学位论文
条目标识符http://ir.ia.ac.cn/handle/173211/7319
专题毕业生_硕士学位论文
推荐引用方式
GB/T 7714
黄勇. 机器人控制器可靠性分析与设计[D]. 中国科学院自动化研究所. 中国科学院自动化研究所,2000.
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