直进回转式机械手设计

摘要

随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手在工业上的应用也逐渐普及，主要在汽车、电子、机械加工、食品、医药等领域的生产流水线或货物装卸调运, 可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。

本直进回转式搬运机械手的机械结构主要包括水平移动、机身回转运动和手臂摆动，末端执行器为抓取物料的机械爪，完成三个自由度的动作。由一个电磁阀控制的气压缸，来实现机械手的伸缩杆移动及机械抓夹紧工件的动作，三个步进电机带水平导轨移动、机身旋转和手臂摆，从而实现搬运工作。其动作转换靠设置在各个不同部位的行程开关、接近开关(SQ1---SQ11)产生的通断信号传输到PLC控制器，通过PLC内部程序输出不同的信号，从而驱动外部线圈来控制步进电机的正反转，实现导轨的水平移动、机身回转和手臂摆动，或电磁阀产生不同的工作位，实现气缸上下伸出、缩进，可实现机械手的精确定位，来满足生产中的操作要求。

关键词：搬运机械手，可编程控制器（PLC），气压，步进电机，电磁阀

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.

目录

1 绪论 (1)

1.1 工业机械手应用简况及意义 (1)

1.2 气动机械手的简介 (1)

2 直进回转式机械手的整体设计 (4)

2.1 设计内容及要求 (4)

2.2 机械手的设计思路及方案 (4)

2.3 电气设计思路及方案 (5)

3 设计各机构、零件及校核计算 (6)

3.1气缸的选型与计算 (6)

3.2 轴的选择及校核计算 (8)

3.3选蜗杆蜗轮减速器 (10)

3.4步进电机的选取和校核 (12)

3.5 滚珠丝杠螺母副的计算和选型 (22)

3.6 轴承的选择及校核 (25)

3.7 齿轮的设计及校核 (27)

3.8 螺纹连接件的校核 (31)

4 机械手控制部分的设计、选型及程序内容 (33)

4.1 总述 (33)

4.2 总体方案的设计 (33)

4.3机械手控制系统硬件组成 (33)

4.4 电气控制系统分析 (36)

4.5小结 (38)

5 结论 (39)

参考文献 (40)

致谢 (41)

附录