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直進回轉(zhuǎn)式機械手設(shè)計
摘 要
隨著工業(yè)自動化的普及和發(fā)展，控制器的需求量逐年增大，搬運機械手在工業(yè)上的應(yīng)用也逐漸普及，主要在汽車、電子、機械加工、食品、醫(yī)藥等領(lǐng)域的生產(chǎn)流水線或貨物裝卸調(diào)運, 可以更好地節(jié)約能源和提高運輸設(shè)備或產(chǎn)品的效率，以降低其他搬運方式的限制和不足，滿足現(xiàn)代經(jīng)濟發(fā)展的要求。
本直進回轉(zhuǎn)式搬運機械手的機械結(jié)構(gòu)主要包括水平移動、機身回轉(zhuǎn)運動和手臂擺動，末端執(zhí)行器為抓取物料的機械爪，完成三個自由度的動作。由一個電磁閥控制的氣壓缸，來實現(xiàn)機械手的伸縮桿移動及機械抓夾緊工件的動作，三個步進電機帶水平導(dǎo)軌移動、機身旋轉(zhuǎn)和手臂擺，從而實現(xiàn)搬運工作。其動作轉(zhuǎn)換靠設(shè)置在各個不同部位的行程開關(guān)、接近開關(guān)(SQ1---SQ11)產(chǎn)生的通斷信號傳輸?shù)絇LC控制器，通過PLC內(nèi)部程序輸出不同的信號，從而驅(qū)動外部線圈來控制步進電機的正反轉(zhuǎn)，實現(xiàn)導(dǎo)軌的水平移動、機身回轉(zhuǎn)和手臂擺動，或電磁閥產(chǎn)生不同的工作位，實現(xiàn)氣缸上下伸出、縮進，可實現(xiàn)機械手的精確定位，來滿足生產(chǎn)中的操作要求。
關(guān)鍵詞：搬運機械手，可編程控制器（PLC），氣壓，步進電機，電磁閥
ABSTRACT
With the popularization and development of industrial automation, the demand for the controller has been increasing year by year, carrying manipulator in industrial application also gradually universal, mainly in cars, electronic, mechanical processing, food, medicine and other areas of production line or cargo handling scheduling,we can be more good to save energy and improve transport efficiency equipment or products, to reduce restrictions on the mode of transportation and inadequate to meet requirements of modern economic development.
This straight into rotary carrying manipulator mechanical structure includes the main including horizontal migration, the rotary motion and swinging arm, end actuators for grab materials mechanical claw, completed three degrees of freedom of action. By a solenoid control the pressure in the cylinder, to finished the telescopic rod manipulator mobile and mechanical grip the action of clamping workpiece, three step motor guide moving, the fuselage with level rotation and arm is placed, so as to realize the movement. The conversion by setting its action in various different parts of the trip switch (SQ1---SQ9) generated on-off signal transmission to the PLC controller, through the PLC internal different output signal, which drives the external coil to control the motor' normal-reverse transfer to realize The horizontal movement of the lead rail, the rotary and arms move swinging; solenoid valves have a different action, the robot can achieve precise position; to meet the production requirements of various operations and maintenance .
Key words: carrying manipulator, the programmable controller (PLC), air pressure, step motor, solenoid valves.
目 錄
1 緒論 1
1.1 工業(yè)機械手應(yīng)用簡況及意義 1
1.2 氣動機械手的簡介 1
2 直進回轉(zhuǎn)式機械手的整體設(shè)計 4
2.1 設(shè)計內(nèi)容及要求 4
2.2 機械手的設(shè)計思路及方案 4
2.3 電氣設(shè)計思路及方案 5
3 設(shè)計各機構(gòu)、零件及校核計算 6
3.1氣缸的選型與計算 6
3.2 軸的選擇及校核計算 8
3.3選蝸桿蝸輪減速器 10
3.4步進電機的選取和校核 12
3.5 滾珠絲杠螺母副的計算和選型 22
3.6 軸承的選擇及校核 25
3.7 齒輪的設(shè)計及校核 27
3.8 螺紋連接件的校核 31
4 機械手控制部分的設(shè)計、選型及程序內(nèi)容 33
4.1 總述 33
4.2 總體方案的設(shè)計 33
4.3機械手控制系統(tǒng)硬件組成 33
4.4 電氣控制系統(tǒng)分析 36
4.5小結(jié) 38
5 結(jié)論 39
參考文獻 40
致 謝 41
附 錄