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芯模搬運(yùn)機(jī)械手設(shè)計(jì)
摘 要
本設(shè)計(jì)為三個(gè)自由度的棒料搬運(yùn)機(jī)械手，搬運(yùn)棒料為固定尺寸的芯模。機(jī)械手整體由控制部分和機(jī)械系統(tǒng)部分組成，設(shè)計(jì)中包括了旋轉(zhuǎn)平臺(tái)可以進(jìn)行180°旋轉(zhuǎn)、手臂可以在水平方線伸縮、氣爪張開與閉合。使用plc來控制驅(qū)動(dòng)系統(tǒng)，讓整個(gè)執(zhí)行系統(tǒng)正常工作。本設(shè)計(jì)的機(jī)械手基于減少減輕工人勞動(dòng)強(qiáng)度，提高其經(jīng)濟(jì)型。在一些比較惡劣的工作條件下可用本機(jī)械手代替工人勞動(dòng)。
本課題運(yùn)用專業(yè)所學(xué)習(xí)的知識(shí)，來進(jìn)行機(jī)械手的整體設(shè)計(jì)，通過計(jì)算校核來進(jìn)行零件的選擇，最后進(jìn)行機(jī)械手的plc系統(tǒng)和驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)。最后根據(jù)計(jì)算結(jié)果畫出裝配圖和零件圖圖以及裝配圖。
關(guān)鍵詞：機(jī)械手，手臂伸縮，氣爪張開閉合，PLC控制系統(tǒng)
II
棒料搬運(yùn)機(jī)械手設(shè)計(jì)
ABSTRACT
窗體頂端
The design for the three degrees of freedom manipulator rod materials handling, handling bar fixed size mandrel. Robot overall by the control section and the mechanical system components, including the design of the rotating platform can be rotated 180 °, the arm can stretch in the horizontal line, gripper opening and closing. Use plc to control the drive system, so that the implementation of the system work. The design of the robot based on the reduction reduce labor intensity and improve its economy. In some relatively poor working conditions of the robot can be used in place of labor.
This paper learned to use professional knowledge to carry out the overall design of the robot, by calculating the check to select a part of the final design of the plc manipulator systems and drive systems. Finally, draw the assembly diagram and parts diagram and assembly drawings based on the calculation result.
Keywords: robot, telescopic arm, gripper opening is closed, PLC control system
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棒料搬運(yùn)機(jī)械手設(shè)計(jì)
目 錄
1.緒論 1
1.1選題背景及其意義 1
1.2文獻(xiàn)綜述（目前國(guó)內(nèi)外研究現(xiàn)狀以及發(fā)展趨勢(shì)） 1
2.機(jī)械手的總體方案設(shè)計(jì) 6
2.1研究?jī)?nèi)容 6
2.2研究方案 6
3.機(jī)械手本體設(shè)計(jì) 9
3.1機(jī)械手氣爪的設(shè)計(jì) 9
3.2伸縮手臂的氣缸設(shè)計(jì) 12
3.3滾珠絲杠螺母副的選型以及計(jì)算 13
4.機(jī)械手傳動(dòng)設(shè)計(jì) 15
4.1電機(jī)的類型與特點(diǎn) 15
4.2滾珠絲杠的電機(jī)選擇 16
4.3旋轉(zhuǎn)臺(tái)的電機(jī)選擇 19
5.機(jī)械手的控制設(shè)計(jì) 21
5.1電控的選擇與優(yōu)點(diǎn) 21
5.2機(jī)械手的工作流程 23
5.3控制面板按鍵分布圖 24
5.4 I/O口分配 25
5.5氣壓接線圖 26
5.6PLC梯形圖 27
6.結(jié)論 29
參考文獻(xiàn) 30
致 謝 31