文档介绍：摘要
在目前的机械制造领域,机械手已经充分得到了广泛应用。它可以模仿人手和臂的某些动作功能,用来按固定程序抓取、搬运物件。它可代替人的繁重劳动以实现生产的机械化和自动化,能在有害环境下操作以保护人身安全。人们如今已经无法离开没有机械手的生活环境。同时利用机械手的抓取和搬运功能,在称重方面和称重传感器结合使用则达到一个自动称重分选的效果。
本文通过对机械手的组成和分类,以及目前机械手发展现状的了解,对本课题任务进行了总体的方案设计。本课题采取的是三自由度圆柱坐标型机械手,通过步进电机达到一个旋转,然后通过丝杠螺母副的组合达到一个机械手上下移动的效果,水平伸缩和手指的抓取都是通过气缸来实现的,称重方面采用的是双孔横梁式传感器。
本课题运用了FX系列可编程序控制器(PLC)对机械手的驱动进行控制,论述了电气控制系统的硬件方面的设计,控制软件结构方面以及自动控制程序方面的逐一设计。
关键词:机械手,称重,传感器,PLC
ABSTRACT
In the current field of machinery manufacturing, mechanical hand has been widely applied. It can imitate hand and arm movements to some function, according to a fixed program to crawl, moving object. It can replace people arduous labor to realize the production mechanization and automation, can operate under the hostile environment to protect the safety of people. People today can't leave without mechanical hand living environment. While the use of mechanical hand for gripping and handling function, in the weighing and weighing sensor is used bination with an automatic weighing and sorting to the effect.
This article through to the manipulator 'position and classification, and the mechanical hand development present situation understanding, on the issue of overall design. This topic take three degrees of freedom cylindrical coordinate manipulator, stepping motor is used to achieve a rotation, and then through the screw nut bination to achieve a mechanical hand to move up and down effect, horizontal expansion and finger gripping is through the cylinder to achieve, weighing is used in double beam type sensor.
The subject of the use of FX series programmable controller ( PLC ) on the manipulator drive control, expounds the electric control system hardware design, control software structure and automatic control program design of the one by one.
Key words: manipulator, weighing, sensor, PLC
目录
1 绪论 1
选题背景 1
机械手国内外研究历史 2
机械手的现状和发展趋势 3
研究方案 3
2 机械手的设计 6
6
手部夹紧气缸的设计 8
机械手手臂机构的设计 14
滚珠丝杠的选择 16