PLC步进电机驱动的单轨道平面关节型机器人设计+CAD图纸
设计选用PLC控制系统硬件电路，完成步进电机驱动器的电路配线盒，机器人控制器的硬件电路配线。从而实现对机器人的运动控制。
设计完成了主要件的选型、传动机构设计、CAD图纸的绘制、主要零部件的校核以及控制部分的设计工作。
关键词：平面关节型；机器人；PLC；机构设计,3866
The articulated robot of single orbital plane drived by stepper motor
Abstract:The flat joint type robot design herein belong, it has a shoulder parallel, about an axis coplanar. In addition, there is a vertical up and down movement of the shoulder as well as single-rail design increases the working range of the robot. Having a larger flexibility in the mechanical design, the most significant feature is the apparatus its movement in the XY plane along the Z-axis has a strong rigidity. Each of its joint motion are independent, each joint individually controlled, so that only one joint movement, smooth motion. Specific mechanical system consists of four major parts of the base, arms, rail as well as the end of the actuator. Specific mechanical system consists of four major parts of the base, arms, rail as well as the end of the actuator. Each section has a number of degrees of freedom to form a multi-degree-of-freedom mechanical system.
PLC control system hardware circuit design and selection, complete stepper motor driver circuit wiring box robot controller hardware circuit wiring. Enabling the robot motion control.
The design is completed the main parts selection, transmission design, CAD drawings drawing, the main components of the check as well as the control part of the selection work.
Keywords: planar articulated robot；PLC；mechanism design
目录
1 绪论 5
1.1 平面关节型机器人概述5
1.2 国内外研究动态 5
1.2 平面关节型机器人原理、用途及应用7
2 驱动方案概述9
2.1操作机的机构和传动技术9
2.2方案总体概述9
2.3 驱动方式选择11
3机械本体设计12
3.1 导轨部件12
3.2 基座部件13
3.2.1主轴的上下移动13
3.2.2主轴的转动15
3.3 小臂驱动部件16
3.4 大臂零件17
3.5 小臂零件18
4 计算校核19
4.1步进电机的选择19
4.1.1小臂电机选择19
4.1.2水平导轨驱动电机选择22
4.2齿轮的校核23
4.3滚珠丝杠的设计计算25
5 控制系统方案选用28
5.1 机器人控制系统的功能28
5.2机器人控制系统的组成形式28
5.2.1集中式控制系统28
5.2.2分布式控制系统29
5.3 控制系统的方案设计31
5.4 传感器的选择31
5.4.1限位开关32
5.4.2位移传感器32
总结34
致谢35
参考文献36,3866
绪论
1.1 平面关节型机器人概述
平面关节型机器人作为机器人的一个分支是工业机器人的一个重要研究方向，又称SCARA型装配机器人，是Selective Compliance Assembly Robot Arm的缩写，意思是具有选择柔顺性的装配机器人手臂。其在水平方向有较好的柔顺性，在垂直方向有较大的刚性。它结构简单，动作灵活，多用于装配作业中，特别适合小规格零件的插接装配，如在电子工业零件的插接、装配中应用广泛，其在装配、搬运、焊接等方面都有重要的应用。