機(jī)械手畢業(yè)設(shè)計(jì)外文翻譯-機(jī)械手(存儲(chǔ)版)
【正文】 cause of microelectronics technology and calculation software and hardware technology rapid development and modern control theory, the perfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap ponents, convenient maintenance and system safety and reliability characteristic, has perated into every sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions, rotating mechanical parts base. Main effect is plete mechanical ponents handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient. Matters of the manipulator axial linkage simple structure and action process Manipulator structure, as shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc. Its motion control mode is: (1) can rotate by servomotor Angle for 360 176。 Stepping motor control, while the other start downward motion along the horizontal axis of the stepmotor controller began to move exercise。 a seal, no brakes, shaft with keyway connections. The motor uses Panasonic39。主要作用是完成機(jī)械部件的搬運(yùn)工作 ,能放置在各種不同的生產(chǎn)線或物流流水線中 ,使零件搬運(yùn)、貨物運(yùn)輸更快捷、便利。(5)氣控機(jī)械手的張合由氣壓控制 (充氣時(shí)機(jī)械手抓緊 ,放氣時(shí)機(jī)械手松開 )。 二 .控制器件選型 為達(dá)到精確控制的目的 ,根據(jù)市場情況 ,對各種關(guān)鍵器件選型如下： 機(jī)械手縱軸 (Y軸 )和橫軸 (X軸 )選用的是北京四通電機(jī)技術(shù)有限公司的42BYG250C型兩相混合式步進(jìn)電機(jī) ,步距角為 176。本驅(qū)動(dòng)器最大輸出電流值為 3A/相 (峰值 ),通過驅(qū)動(dòng)器面板上六位撥碼開關(guān)的第 7， 三位可組合出8種狀態(tài) ,對應(yīng) 8種輸出電流 ,從 3A以配合不同的電機(jī)使用。伺服電機(jī)驅(qū)動(dòng)器為 A系列 MSDA5A3A1A,適用于小慣量電動(dòng)機(jī)。 CPM2A的 CPU單元又是一個(gè)獨(dú)立單元 ,能處理廣泛的機(jī)械控制應(yīng)用問題 ,所以它是在設(shè)備內(nèi)用作內(nèi)裝控制單元的理想產(chǎn)品。 四 .結(jié)束語 四軸聯(lián)動(dòng)簡易機(jī)械手的各個(gè)動(dòng)作和狀態(tài)都由 PLC控制 ,不僅能滿足機(jī)械手的手動(dòng)、半自動(dòng)、自動(dòng)等操作方式所需的大量按扭、開關(guān)、位置檢測點(diǎn)的要求 ,更可通過接口元器件與計(jì)算機(jī)組成 PLC工業(yè)局域網(wǎng) ,實(shí)現(xiàn)網(wǎng)絡(luò)通信與網(wǎng)絡(luò)控制。只有設(shè)計(jì)出流程圖 ,才可能順利而便捷地編寫出梯形圖并寫出語句表 ,最終完成程序的設(shè)計(jì)。 在可回旋 360176。該電機(jī)采用松下公司獨(dú)特算法 ,使速度頻率響應(yīng)提高 2倍 ,達(dá)到 500Hz。M2是縱軸電機(jī) ,帶動(dòng)機(jī)械手機(jī)構(gòu)上升、下降。 步進(jìn)電機(jī)驅(qū)動(dòng)縱軸上升 ,另一個(gè)步進(jìn)電機(jī)驅(qū)動(dòng)橫軸開始向前走 。(2)由步進(jìn)電機(jī)驅(qū)動(dòng)絲杠組件使機(jī)械手沿 X、 Y軸移動(dòng) (有x、 y軸限位開關(guān) )。s BL0408 produced by the drive, which uses 24
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