物料传输颜色分拣系统设计【分拣机械手】【含CAD高清图纸和说明书】
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分拣机械手
含CAD高清图纸和说明书
物料
传输
颜色
分拣
系统
设计
机械手
CAD
图纸
说明书
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【温馨提示】====【1】设计包含CAD图纸 和 DOC文档，均可以在线预览，所见即所得，，dwg后缀的文件为CAD图，超高清，可编辑，无任何水印，，充值下载得到【资源目录】里展示的所有文件======【2】若题目上备注三维，则表示文件里包含三维源文件，由于三维组成零件数量较多，为保证预览的简洁性，店家将三维文件夹进行了打包。三维预览图，均为店主电脑打开软件进行截图的，保证能够打开，下载后解压即可。======【3】特价促销，，拼团购买，，均有不同程度的打折优惠，，详情可咨询QQ：1304139763 或者 414951605======
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机 械 技 术 学 院毕 业 设 计 论 文物料传输颜色分拣系统（机械部分）学生姓名： 蔡春香 指导教师姓名： 金敏 职称： 高级工程师 所在班级 机制10601 所在专业 机械制造与自动化论文提交日期2009年 月 日 论文答辩日期 2009年 月 日答辩委员会主任 主答辩人 机 械 技 术 系 2009 年 月 日机 械 技 术 学 院毕 业 设 计 任 务 书课题名称 物料传输颜色自动分拣系统（机械部分） 指导教师（学院） 金敏 职称 高级工程师 指导教师（企业） 职称 专业名称 机械制造与自动化 班级 机制10601 学生姓名 蔡春香 学号 02 课题需要完成的任务：1. 安装布置图一份2. 气动原理图一份3. 电气原理图一份4. 装配图5. 非标零件图若干份6. 元器件清单一份7. 编写毕业设计说明书（论文），注意格式规范，A4纸20-30页8. 机械专业英文翻译，与专业有关，大于3000字符课题计划：1. 2月16日2月22日（第一周）：布置课题，收集相关资料； 2. 2月23日3月01日（第二周）：元器件选型；3. 3月02日3月15日（第三周）：绘制安装布置图；4. 3月02日3月15日（第四周）：设计气动原理图;5. 3月16日3月29日（第五周）：绘制装配图;6. 3月16日3月29日（第六周）：绘制非标零件图;7. 3月30日4月05日（第七周）：完成论文写作，专业英文翻译；8. 4月06日4月12日（第八周）：毕业答辩计划答辩时间：2009年4月6日2009年4月10日机械技术系（部、分院）2009年2月18日目 录第一章 概述 11.1 课题简介 21.2 物料传输颜色分拣系统的主要组成 2第二章 龙门气动搬运机械手设计. 32.1 机械结构设计32.2 气动系统设计4第三章 旋转气动搬运机械手设计 83.1 机械结构设计83.2 气动系统设计9第四章 步进电机传输系统设计 114.1 机械结构设计 114.2 步进电机选型 124.3 步进电机驱动器选型 13第五章 电气控制系统 195.1 控制面板195.2 电气元件布置图195.3 电气元件接线图205.4 控制程序205.5 电器元件清单 205.6 传感器 20第六章 系统安装与调试 21第七章 设计小结 22致谢附图英文翻译参考资料物料输送装置明细表（五金元件）序号名称数量型号总价备注1台面支架12台面13同步轮44同步轮支架2+2两个有输出轴5联轴器26电机安装支架27放料筒28同步带29同步带托盘210传感器支架41924011颜色辨别传感器支架112上料筒113推出缸支架114推出柄115模拟元件6+6黑+白16工件夹头217手指气缸与垂直气缸的过渡板218垂直气缸与无杆气缸的过渡板119无杆气缸与立柱安装过渡板220阀板的安装板121水平气缸与旋转气缸的过渡板122旋转气缸与立柱的过渡板123立柱2+1带封盖2个24轴承825方向轮4两个带刹车26内六角螺柱若干27扎带若干两种规格28连接件829控制面板130控制面板支架4物料输送装置明细表（气动元件）序号名称数量型号备注1双轴气缸3TN201002旋转气缸1RTB-203无杆气缸1MRU20400-S-S24手指气缸2HDZ20-ST25推出气缸1MAL2050-S-CA6两为五通单电控电磁换向阀87阀板18管接头17阀用、直通9消声器210三联件111排气阀1含1个管接头12截止阀113调速接头4+124大、12小14气管若干两色（橙+蓝）15磁性传感器16161718192021222324252627物料输送装置明细表（电气元件）序号名称数量型号备注1光电传感器4四线制、NPN2颜色辨别传感器13开关电源2S-145-24AC5V一个、DC24V一个，明纬牌4导线若干两色（红+蓝）5拨动开关9三点8个、六点1个、166指示灯1224V12、16、三色、尾部接线用螺栓接线7选择开关122、三种开关8按钮3三种颜色169急停开关12210PLC含扩展单元 10组套单元各一个松下11供方模块4含扁平电缆12步进电机213步进电机驱动器214PLC数据线1个1USB接口15松下编程手册216接线端子22组1735mm的安装条218热缩管若干19标签号若干20线盒2根21配电箱22电流指示灯22、22V23环氧树脂板124空气开关125接触器1线圈直流24V26插头127油雾器专用油128缠绕管若干物料输送装置明细表（工具）序号名称数量型号总价备注1切管器2内六角3剪刀4螺丝刀5电工胶带6烙铁7松香8烙铁架9焊线10万用表11拖线板12131415161718192021222324252627282930Q图纸序号项目备注1气路图2电器元件接线图3I/O分配表4非标件零件图5程序梯形图6物流输送及颜色分拣系统PLC控制流程图7零部件明细表8说明书使用说明书和设计说明书The main Elements of Horizontal Milling MachinesColumn and baseThe column and base form the foundation of the complete machine. Both are made from cast iron, designed with thick sections to ensure complete rigidity and freedom from vibration. The base, upon which the column is mounted, is also the cutting-fluid reservoir and contains the pump to circulate the fluid to the cutting area.The column contains the spindle, accurately located in precision bearings. The spindle is driven through a gearbox from a vee-belt drive from the electric motor housed at the base of the column. The gearbox enables a range of spindle speeds to be selected. Twelve spindle speeds from 32 to 1400rev/min are available. The front of the column carries the guide-ways upon which the knee is located and guided in a vertical direction.KneeThe knee, mounted on the column guide-ways, provides the vertical movement of the table.Power feed is available, through a gearbox mounted on the side, from a separate built-in motor, providing a range of twelve feed rates from 6 to 250mm/min. Drive is through a lead-screw, whose bottom end is fixed to the machine base. Provision is made to raise and lower the knee by hand through a lead-screw and nut operated by a hand-wheel at the front. The knee has guide-ways on its top surface giving full-width support to the saddle and guiding it in a transverse direction.A lock is provided to clamp the knee in any vertical position on the column.Saddle The saddle, mounted on the knee guide-ways, provides the transverse movement of the table.Power feed is provided through the gearbox on the knee. A range of twelve feeds is available, from 12 to 500mm/min. Alternative hand movement is provided through a lead-screw and nut by a hand-wheel at the front of the knee.Clamping of the saddle to the knee is achieved by two clamps on the side of the saddle.The saddle has dovetail guide-ways on its upper surface, at right angles to the knee guide-ways, to provide a guide to the table in a longitudinal direction.TableThe table provides the surface upon which all work-pieces and work-holding equipment are located and clamped. A series of tee slots is provided for this purpose. The dovetail guides on the undersurface locate in the guide-ways on the saddle, giving straight-line movement to the table in a longitudinal direction at right angle to the saddle movement.Power feed is provided from the knee gearbox, through the saddle, to the table lead-screw. Alternative hand feed is provided by a hand-wheel at each end of the table. Stops at the front of the table can be set to disengage the longitudinal feed automatically in each direction.SpindleThe spindle, accurately mounted in precision bearings, provides the drive for the milling cutters. Cutters can be mounted straight on the spindle nose or in cutter-holding devices which in turn are mounted in the spindle, held in position by a draw-bolt passing through the hollow spindle. Spindles of milling machines have a standard spindle nose to allow for easy interchange of cutters and cutter-holding devices. The bore of the nose is tapered to provide accurate location, the angle of taper being 16.36”. The diameter of the taper depends on the size of the machine and may be 30, 40 or 50 IST (International standard Taper). Due to their steepness of angle, these tapers-known as non-stick or self-releasing-cannot be relied upon to transmit the drive to the cutter or cutter-holding device. Two driving keys are provided to transmit the drive.Over-arm and arbor supportThe majority of cutters used on horizontal machines are held on an arbor which is located and held in the spindle. Due to the length of the arbors used, support is required at the outer end to prevent deflection when cutting takes place. Support is provided by an arbor-support bracket, clamped to an over-arm which is mounted on top of the column in a dovetail slide. The over-arm is adjustable in or out for different lengths of arbor, or can be fully pushed in when arbor support is not required. Two clamping bolts are provided to lock the over-arm in any position. The arbor support is located in the over-arm dovetail and is locked by means of its clamping bolt. A solid bearing is provided in which the arbor runs during splindle rotation.Controls of Horizontal Milling MachinesThe various controls of a typical horizontal milling machine. These are identical to those of a vertical machine:Spindle speeds are selected through the levers 4, and the speed is indicated on the change dial 5. The speeds must not be changed which the machine is running. An inching button 3 is situated below the gear-change panel and, if depressed, inches the spindle and enables the gears to slide into place when a speed change is being carried out. Alongside the inching button is the switch for controlling the cutting-fluid pump 1 and one for controlling the direction of spindle rotation 2. The feed rates are selected by the lever 9 and indicated on the feed-rate dial.To engage the longitudinal table feed, lever 8 is moved in the required direction-right for right feed, lever 8 is moved in the required direction-right for right feed, left for left feed. Adjustable trip dogs 6 are provided to disengage the feed movement at any point within the traverse range. Limit stops are incorporated to disengage all feed movements in the extreme position, to prevent damage to the machine in the event of a trip dog being missed.To engage cross or vertical traverse, lever 12 is moved up or down. The feed can then be engaged by moving lever 11 in the required direction. With cross traverse selected, movement of lever 11 up-words produces in-feed of the saddle, moving it downwards produces out-feed of the saddle.With vertical traverse selected, movement of lever 11 up-words produces up-feed to the knee, moving it downwards produces down-feed to the knee. Rapid traverse in any of the above feed directions is engaged by an up-ward pull of lever 10. Rapid traverse continues as long as up-ward pressure is applied. When released, the lever will drop into the disengaged position. Alternative hand feed is provided by means of a single crank handle 7,which is engaged by slight pressure towards the machine. Spring ejectors disengage the handle on completion of the operation, for safety purposes-I. E. the handle will not fly round when feed or rapid traverse is engaged. The single crank handle is interchangeable on table, saddle, and knee movements.Milling OperationsThe variety of milling operations which may be performed on a given milling machine depends on the type of machine, the type of cutter used, and the accessories or attachments available for use with the machine. Milling machine are used for machining flat surfaces, including horizontal, vertical, and angular surfaces. They are used for machining many kinds of shoulders and grooves, including keyways, T-slots, and dovetails. They are used to machine formed or irregular surfaces with the use of many types of formed-tooth cutters.Milling machines equipped with a dividing head may be used for machining equally spaced flat surfaces, straight grooves, or spiral grooves on parts with a cylindrical shape. This type of machining is involved in making gears, taps, reamers, drills, milling cutters, and splines on shafts.Milling machines, particularly those of the vertical type, may be used for all of the common hole-machining operations which normally are performed on a drill press. With the milling machine, holes may be precisely located through the use of the table feed screws. The longitudinal and cross-feed screws are equipped with micrometer collars accurately graduated in hundredths of a millimeter (thousandths of an inch)or smaller. Hole depth also may be accurately controlled through the use of graduated collars on the vertical-feed control.Because of the wide variety of operations which may be performed on a milling machine and because of its general efficiency and speed of metal removal, it is one of the most important of the basic machine tools. It ranks in versatility and importance with the metal-working lathe. Safety and Maintenance For CNC MachineSafety Notes for CNC machine operationsSafety is always a major concern in a metal-cutting operation. CNC equipment is automated and very fast, and consequently it is a source of hazards. The hazards have to be located and the personnel must be aware of them in order to prevent injuries and damage to the equipment. Main potential hazards include: rotating parts, such as the spindle, the tool in the spindle, chuck, part in the chuck, and the turret with the tools and rotating clamping devices; movable parts, such as the machining center table, lathe slides, tailstock center, and tool carousel; errors in the program such as improper use of the G00 code in conjunction with the wrong coordinate value, which can generate an unexpected rapid motion; an error in setting or changing the offset value, which can result in a collision of the tool with the part or the machine; and a hazardous action of the machine caused by unqualified changes in a proven program. To minimize or avoid hazards, try the following preventive actions:(1) Keep all of the original covers on the machine as supplied by the machine tool builder.(2) Wear safety glasses, gloves, and proper clothing and shoes.(3) Do not attempt to run the machine before you are familiar with its control.(4) Before running the program, make sure that the part is clamped properly.(5) When proving a program, follow there safety procedures: Run the program using the machine Lock function to check the program for errors in syntax and geometry. Slow down rapid motions using the RAPID OVERRIDE switch or dry run the program. Use a single-block execution to confirm each line in the program before executing it. When the tool is cutting, slow down the feed rate using the FEED OVERRIDE switch to prevent excessive cutting conditions.(6) Do not handle chips by hand and do not use chip hooks to break long curled chips. Program different cutting conditions for better chip control. Stop the machine if you need to properly clean the chips.(7) If there is any doubt that the insert will break under the programmed cutting conditions, choose a thicker insert or reduce feed or depth of cut.(8) Keep tool overhang as short as possible, since it can be a source of vibration that can break the insert.(9) When supporting a large part by the center, make sure that the hole-center is large enough to adequately support and hold the part.(10) Stop the machine when changing the tools, indexing inserts, or removing chip.(11) Replace dull or broken tools or inserts.(12) Write a list of offsets for active tools, and clear (set to zero) the offsets for tools removed from the machine.(13) Do not make changes in the program if your supervisor has prohibited your doing so.(14) If you have any safety-related concerns, notify your instructor or supervisor immediately.2. Daily MaintenanceChecking the External View(1) Machine oil (cutting oil, lubrication oil) has been scattered onto the servomotor, detector, or main unit of the NC, or is leaking.(2) Damage is found on the cables of the movable blocks, or the cables are twisted.(3) Filter clogging(4) A door of the control panel is not open.(5) Ambient vibration(6) The unit is located in a dusty location.(7) Something that causes high frequency is placed near the control unit.Checking the inside of the control unitCheck that the following troubles have been eliminated:(1) Cable connectors are loosened.(2) Installing screws are loosened.(3) Attachment amplifier screws are loosened.(4) The cooling fan operates abnormally.(5) Cable damage.(6) Printed circuit boards have been inserted abnormally.3. Fault Diagnosis and Action When a running fault occurs, examine the correct cause to take proper action. To do this, execute the checks below:Checking the Fault Occurrence Status Check the following: When did the fault occur? During what operation did the fault occur? What fault?(1) When did the fault occur?Time of day when the fault occurred.(2) During what operation did the fault occur? What running mode? For automatic operationprogram number, sequence number, and contents of program? For manual operationMode? Operating procedure? Preceding and succeeding operations? Set / display units screen? During I/O operation? Machine system status? During tool change? Controlled axis hunting?What fault occurred?What does the alarm display of the set/display units alarm diagnosis screen indicate?Display the alarm diagnosis screen to check the contents of alarm.What dose the driving amplifier status display indicate?Check the contents of alarm based on the driving amplifier status displayWhat dose the machine sequence alarm indicate?Is the CRT screen normal?Is the control axis hunting?(3) Frequency of fault?When did the fault occur? Frequency? (Did the fault occur during operation of another machine?) If the frequency is too small, or the fault occurred during operation of another machine, the cause may be noises of the supply voltage. For example, in this case, check that 1 the supply voltage is normal (does momentary drop occur during operation of another machine?) and 2 measures have been taken against noises.In specific mode?When did the ceiling crane move?Frequency for the same kind of work?Dose the fault occur when the same operation is made? (Repeatability check)Change the conditions (override, contents of program, operating procedure, etc.).Dose the same fault occur?2. Fault Example (1) The power cannot be turned on. Check the following points:The power is being supplied?(2) The NC unit dose not operate when being activated.Check the following points:Mode selected normally?All conditions for start satisfied?Depending on the machine, the start may be locked until the predetermined conditions are satisfied. Check this by referring to the manual published by the machine manufacturer.Override or manual speed=0?No reset signal is being generated.No feed hold signal is being generated.Machine lock is on.3. Alarm Message When the menu key ALARM is pressed, the ALARM/DIAGN screen is displayed.(1) Alarm The code and number or message relating to an operation alarm, program error, servo alarm, or system error are displayed.(2) Stop code The automatic operation disable state or stop state in automatic operation mode is displayed in code and error number.(3) Alarm message The alarm messages specified by the user PLC (built-in) are displayed.(4) Operator message The operator messages specified by the user PLC are displayed.When an alarm occurs, the class code will display on all screens.Refer to the Appendix. List of alarms for details on the alarms.卧式铣床的主要部件床身和底座床身和底座是整个铣床的基础，它们均由铸铁制成，并设计成厚壁状，以保证有足够的刚度和抗震性。床身安装在底座上，底座同时也是储存切削液的容器，底座内装有使切削液循环到切削区去的帮。床身上装有主轴，且精确地将主轴定位于精密轴承之中。主轴是由装在底座上的驱动电机通过V带及齿轮箱来驱动的。齿轮箱使主轴的转速有一选择范围，铣床有从32r/min到1400r/min的十二级转速可供选择。床身前面有导轨，升降台装在导轨上，并可沿导轨垂直运动。升降台安装在床身导轨上的升降台，能使机床工作台垂直运动。一台独立的电机，通过边上的齿轮箱使升降台实现机动进给，它可提供有6mm/min到250mm/min的十二级进给量，驱动是通过丝杆实现的。丝杆的下端固定在机床的底座上。还有手动控制升降台的装置，这是通过前面的手轮控制丝杆和螺母来实现的。升降台的顶面上有一与升降台等宽的导轨，用来支撑床鞍，并使之作横向运动。锁紧装置可使升降台锁在床身任一个垂直位置上。床鞍装在升降台导轨上的床鞍，可使工作台横向运动。床鞍的机动进给由升降台上的齿轮箱提供。共有从12mm/min至500mm/min的十二级进给量。另外，用升降台前面的手轮，经丝杆和螺母，可实现床鞍的手动进给。床鞍边上的两块夹持装置可将床鞍夹持在升降台上。床鞍顶面上的燕尾形导轨与升降台导轨相垂直，可使工作台纵向运动。工作台在工作台表面上有一组T形槽，可用来装夹工件或夹具。工作台下面的燕尾装置在床鞍的导轨中，可使工作台作纵向直线运动，这一运动方向与床鞍的运动方向相垂直。工作台机动进给是由升降台齿轮箱通过拖板到工作台丝杠来实现的。手动进给可由工作台每一端的手轮驱动。工作台前端的挡块可以调整，使得每个方向上的纵向进给自动脱开。主轴精确地安装在精密轴承中的主轴，为铣刀提供驱动力。铣刀可直接安装在主轴端部，或者安装在刀夹装置上，再将刀夹装置安装在主轴上，用一穿过主轴轴孔的牵引螺栓将 其固定在合适的位置上。铣床主轴具有标准轴端，可方便刀具或刀夹装置的更换。轴端孔具有锥度，以便精确定位，锥角为16度36分。锥孔内径取决于机床的尺寸，一般为30，40及50IST（国标标准锥度）。由于其角度大，这些锥体连接（众所周知不能自锁）不能将运动传到刀具或刀夹装置上，所以用两个键来传递动力。悬梁及刀杆支架卧式铣床上用的大部分刀具都是装在刀杆上，再将刀杆固定在主轴上的。由于所用刀杆较长，故需在其外端加上支承，以防切削时发生弯曲。支承由刀杆支架提供，该支架固定在悬梁上，悬梁安装在床身顶部的燕尾导轨上。悬梁可随刀杆的长度前后调整。当不需要刀杆支承时，可将悬梁全部推回去。两个夹紧螺栓将悬梁锁在任一位置上。刀杆支架套在悬梁的燕尾导轨上，并可用夹紧螺栓把它锁紧在悬梁上。当刀杆随主轴转动时，刀杆在支架的整体轴承中运转。卧式铣床的控制有多种控制的典型卧式机床。这里有相同的立式机器。心轴快速运转是通过手柄4经由选择的，并且速度是调换刻度盘5的指示器。当机器运转时速度不必改变，假如是平卧的点动按钮3是位于齿轮调换板的下面，当速度正在改变的时候，渐进的心轴和使齿轮滑座能够进入一个地方。在点动按钮旁边开关是为控制切削液注入和心轴旋转2是为了控制方向，进给速度是手柄9选择的和指示流入刻度盘速度。使从事于纵向工作台的流入手柄8是移动在规定的方向，向右向左进给，可调整的挡块6是规定解除进给运动，在任何用途范围里面来回移动。限制挡块是在最终的位置，合并的解除所有的进给运动，来阻止避免挡块万一受到伤害。手柄12向上或向下移动，使从事于穿过或垂直移动的进给，使从事于手柄11需要的范围。通过移动手柄11选择向上引起大拖板进给，向下移动引起大拖板进给。手柄11向上运动引起铣床升降台的向上，向下运动引起铣床升降台向下进给。手柄10向上拉使从事于进给方向迅速来回移动。继续向上的力运用中来回移动。当放松时，手柄将下降松开位置。选择手动进给规定单个手动曲柄7，向机器实施轻微的力，手动松开弹性推顶器来完成运转，为了安全目的，工业工程中，当进给或者迅速来回移动将不能快速运转，单个的手动曲柄是交换工作台，大拖板，升降台运动。铣床操作多种铣床操作可以完成铣床机器为典型的机器，切削刀具的类型和辅助设备或辅助机构通用的机构。铣床用于表面光滑包括卧式，立式和角度的表面。他们是用于机器许多肩和凹槽，包括键槽，T型槽和燕尾槽。以许多为明确啮合的切削刀具为典型，他们被使用在机器明确或不规则的表面。铣床配备有分度头被使用于机器同样的光滑表面，在圆柱形上有直的凹槽，螺旋凹槽，在轴上包括齿轮，丝锥，绞刀，钻头，铣床切削刀具和花键为典型。铣床，尤其是立式铣床类型，普通的孔操作通常用钻床进行操作。用铣床操作孔可以精确地在工作台上设置孔的位置。纵向和横向装配旋入用千分尺测得0.01毫米（0.01英寸）或者更小。孔深也可以通过垂直调节精确地获得尺寸。因为操作铣床有很多种类，金属切削是由于普通地功率和速率，它是基本机床中最重要的，它是用车床加工金属工作中通用的和重要的。计算机数控机床的安全和维护1 计算机数控机床安全操作注意事项在金属切削操作中安全性一直是特别受关注的。由于计算机数控设备自动化程度高并且速度快，所以它是一个危险源。为了防止人员伤害和对设备的损坏，必须找出存在危险的根源，且操作人员必须提高警惕。主要的潜在危险包括：旋转部件
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