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摘要:雖然各行各業(yè)的自動(dòng)化水平越來(lái)越高，可在機(jī)械工業(yè)中，加工、裝配等生產(chǎn)很大程度上是不連續(xù)的。許多調(diào)查表明，裝卸、搬運(yùn)等工序迫切需要實(shí)現(xiàn)機(jī)械自動(dòng)化，而工業(yè)機(jī)械手就是為實(shí)現(xiàn)這些工序的自動(dòng)化而產(chǎn)生的。工業(yè)機(jī)械手適用于可變換生產(chǎn)品種的中、小批量自動(dòng)化生產(chǎn)中。 本文首先簡(jiǎn)要介紹了工業(yè)機(jī)械手的概念、組成和分類，電氣控制、驅(qū)動(dòng)技術(shù)的特點(diǎn)，以及機(jī)械手在國(guó)內(nèi)外的發(fā)展現(xiàn)狀和前景。 然后本文在功能實(shí)現(xiàn)、加工水平和研制資金之間權(quán)衡，對(duì)機(jī)械手進(jìn)行總體方案設(shè)計(jì)，從關(guān)節(jié)坐標(biāo)形式出發(fā)研究設(shè)計(jì)，認(rèn)為2軸轉(zhuǎn)動(dòng)關(guān)節(jié)組成的機(jī)械手可在資金預(yù)算內(nèi)基本實(shí)現(xiàn)目的功能——搬運(yùn)板材金屬工件；進(jìn)而選定使用步進(jìn)電機(jī)作為驅(qū)動(dòng)單元，實(shí)現(xiàn)機(jī)械手反復(fù)轉(zhuǎn)動(dòng)定位，并對(duì)相關(guān)參數(shù)計(jì)算以校核電機(jī)；然后陸續(xù)選定手腕結(jié)構(gòu)為對(duì)工件表面損傷最少的真空吸盤，設(shè)計(jì)傳動(dòng)方案和校核主要零件強(qiáng)度，設(shè)計(jì)PLC可編程控制器、步進(jìn)電機(jī)驅(qū)動(dòng)器、步進(jìn)電機(jī)和真空電磁閥之間的電路連接，最后編寫PLC控制程序?qū)崿F(xiàn)機(jī)械手兩種運(yùn)動(dòng)模式。
關(guān)鍵詞：機(jī)械手；步進(jìn)電機(jī)；真空吸盤；PLC
ABSTRACT:Although all walks of life increasingly high level of automation in the machinery industry, fabrication, assembly and production largely is not continuous. Many surveys show that the loading and unloading process an urgent need for machine automation, industrial robot is to automate these processes. The industrial robot can transform the production of varieties, the automated production of small quantities. This paper briefly describes the characteristics of concept, composition and classification of the industrial robot, electrical control, drive technology, as well as the robot in the development of domestic and international status and prospects. Then in the functional trade-off between the actual processing and the development of capital, the overall design, the robot starting from the form of joint coordinate the research design, that the 2-axis rotary joint robot in the capital budget, the basic purpose functions - moving metal workpiece; selected and then use the stepper motor as the drive unit, the robot repeatedly rotating the positioning calculation to check the motor and related parameters; then successively selected wrist structure of the vacuum suction on the surface damage at least, the design transmission scheme design and check the main parts strength, PLC programmable controller, stepper motor driver, stepper motor and the vacuum solenoid valve circuit connection, the final preparation of the PLC control program to achieve the robot two kinds of movement pattern. Keywords: Manipulator; Stepper motor; Vacuum suction; the PLC
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