直進(jìn)回轉(zhuǎn)式機(jī)械手設(shè)計【含CAD圖紙、說明書】
直進(jìn)回轉(zhuǎn)式機(jī)械手設(shè)計【含CAD圖紙、說明書】,含CAD圖紙、說明書,回轉(zhuǎn),機(jī)械手,設(shè)計,cad,圖紙,說明書,仿單
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直進(jìn)回轉(zhuǎn)式機(jī)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(yùn)機(jī)械手在工業(yè)上的應(yīng)用也逐漸普及，主要在汽車、電子、機(jī)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(yùn), 可以更好地節(jié)約能源和提高運(yùn)輸設(shè)備或產(chǎn)品的效率，以降低其他搬運(yùn)方式的限制和不足，滿足現(xiàn)代經(jīng)濟(jì)發(fā)展的要求。
本直進(jìn)回轉(zhuǎn)式搬運(yùn)機(jī)械手的機(jī)械結(jié)構(gòu)主要包括水平移動、機(jī)身回轉(zhuǎn)運(yùn)動和手臂擺動，末端執(zhí)行器為抓取物料的機(jī)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(jī)械手的伸縮桿移動及機(jī)械抓夾緊工件的動作，三個步進(jìn)電機(jī)帶水平導(dǎo)軌移動、機(jī)身旋轉(zhuǎn)和手臂擺，從而實現(xiàn)搬運(yùn)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(jìn)電機(jī)的正反轉(zhuǎn)，實現(xiàn)導(dǎo)軌的水平移動、機(jī)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(jìn)，可實現(xiàn)機(jī)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(yùn)機(jī)械手，可編程控制器（PLC），氣壓，步進(jìn)電機(jī)，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(jī)械手應(yīng)用簡況及意義 1
1.2 氣動機(jī)械手的簡介 1
2 直進(jìn)回轉(zhuǎn)式機(jī)械手的整體設(shè)計 4
2.1 設(shè)計內(nèi)容及要求 4
2.2 機(jī)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(jī)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(jìn)電機(jī)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(jī)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(jī)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(xiàn) 40
致 謝 41
附 錄
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