数控机床自动上料机械手设计.pdf

数控机床自动上料机械手设计 摘 要 在当今时代，科学技术取得了较大的进步以及发展，并且为了早日促进工业 4.0 的到来，在目前的工业制造体系里，一些之前通过人工操作的具体任务慢慢地全部被 机械装置替换，如此促进了机械手的广泛运用。本文涉及一款圆柱型机械手的设计， 主要应用于普通数控车床，机械手在电液混合驱动方式的作用下完成车床的自动上 料、下料动作。本文主要内容在于对机械手的相关机械结构及运动控制方案进行设计 并阐述了其运动控制方式。设计完成该款机械手具有完整的机械动作功能，这包括机 械手爪的抓放动作、小臂的伸缩功能、大臂能进行升降及腰部能进行转动。机械手中 手臂伸缩的相关直线运动的控制由液压缸完成，而腰部的转动动作是由步进电机与减 速齿轮的组合来共同完成。机械手中相关运动方向的控制由液压电池阀来实现。同时 机械手的控制单元使用 PLC 模块。而整个设计要构成一个完全的机电一体化系统，还 需对 PLC 进行编程控制并完成外部连线。 关键词：机械手、电液混合驱动、PLC Design of automatic upper and lower material manipulator of CNC lathe Abstract In the current era, science and technology have made great progress and development, and in order to promote the arrival of Industry 4.0 at an early date, in the current industrial manufacturing system, some specific tasks that were previously manually operated are slowly replaced by mechanical devices. Promote the extensive use of robots. This paper relates to the design of a cylindrical robot, which is mainly applied to ordinary CNC lathes. The robotic arm completes the automatic loading and discharging operations of the lathe under the action of the electro-hydraulic hybrid driving mode. The main content of this paper is to design the relevant mechanical structure and motion control scheme of the manipulator and explain its motion control method. Designed to complete the robot has a complete mechanical action function, which includes gripping and release of the robotic gripper, the telescopic function of the arm, the boom can be raised and lowered, and the waist can be rotated. The control of the relative linear movement of the arms of the robot is performed by hydraulic cylinders, and the rotation of the waist is accomplished by a combination of a stepping motor and a reduction gear. The control