基于单片机控制的玻璃管搬运机械手设计
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摘要
设计了基于单片机控制的玻璃管搬运机械手。该机械手由两部分组成,顶部有提升电动机组件、直线滑轨等,下部有玻璃管夹持机械手、玻璃管固定装置和玻璃管运送机构等,顶部靠两端支架支撑。采用混合式步进电动机和电磁元件作为机械手的执行元件,以光电开关、微动开关作为机械手的信号反馈元件,以单片机作为整个装置的控制核心。该机械手操作简单,结构合理,最终实现了玻璃管自动搬运和码垛,满足工业需求。
In this paper,a MCU controlled glass tube handling manipulator is designed. This manipulator consists of two parts,there are ascending motor components and linear slide rail structure on the top,glass tube clamping manipulator,fixing device of glass tube and glass tube transport agencies structure are installed at the bottom,and the top depend on both ends of the brace. Adopt the hybrid step motor and electromagnetic components as manipulator actuators,photoelectric switch,micro switch as manipulator signal feedback component,with single chip microcomputer as control core of the entire device. The manipulator is simple in operation and reasonable in structure,and finally realizes the automatic handling and stacking of glass tubes to meet industrial needs.
In this paper,a MCU controlled glass tube handling manipulator is designed. This manipulator consists of two parts,there are ascending motor components and linear slide rail structure on the top,glass tube clamping manipulator,fixing device of glass tube and glass tube transport agencies structure are installed at the bottom,and the top depend on both ends of the brace. Adopt the hybrid step motor and electromagnetic components as manipulator actuators,photoelectric switch,micro switch as manipulator signal feedback component,with single chip microcomputer as control core of the entire device. The manipulator is simple in operation and reasonable in structure,and finally realizes the automatic handling and stacking of glass tubes to meet industrial needs.
引文
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[6]师素文,张广红,吴爱国.基于PLC的万吨液压机控制系统设计[J].制造技术与机床,2005(9):34-37.
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[2]江树强.用于玻璃管夹持的夹紧机构.中国:CN203144276U[P].2013-08-21
[3]方庆海,范益军,单柏峰,等.玻璃管竖直夹持上料装置.中国:CN204385051U[P]. 2015-06-10.
[4]任启平,李晔,白翔,等.玻璃管摆管机.中国:CN105417180A[P]. 2016-03-23.
[5]郭毓,马勤弟,许春山,等.搬运机器人伺服系统的研究[J].南京理工大学学报:自然科学版,2001,25(3):332-336.
[6]师素文,张广红,吴爱国.基于PLC的万吨液压机控制系统设计[J].制造技术与机床,2005(9):34-37.
[7]侯艳霞.混合式步进电机工作原理及其PLC控制[J].科技创新导报,2009(28):96-97.