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编号： 毕业设计任务书题 目： 立式系列包装机横向封 口系统开发设计 院 （系）： 机电工程学院 专 业： 机械设计制造及其自动化 学生姓名： 陈金品 学 号： 1200110403 指导教师单位： 机电工程学院 姓 名： 黄 伟 职 称： 讲 师 题目类型：理论研究 实验研究 工程设计 工程技术研究 软件开发 2015年12月28日编号： 毕业设计任务书题 目： 立式系列包装机横向封 口系统开发设计 院 （系）： 机电工程学院 专 业： 机械设计制造及其自动化 学生姓名： 陈金品 学 号： 1200110403 指导教师单位： 机电工程学院 姓 名： 黄 伟 职 称： 讲 师 题目类型：理论研究 实验研究 工程设计 工程技术研究 软件开发 2015年12月28日一、毕业设计（论文）的内容立式枕型自动包装机是各类食品、医药、化工等行业产品外包装最常用的机械之一，目前由于市场竞争和人们对设备品质需求两方面的影响，该类设备不论是局部还是整体都面临不断地的更新。立式包装机横向封口机构具有水平、垂直两个方向的往返运动，存在运行冲击、工作噪声大，适应的包装速度较低。本设计以提高设备效率和运行稳定性为目标，主要内容包括： 1熟悉相关设计标准，掌握资料检索方法，熟练阅读各类工程图纸； 2查询国内外同类机型横向封口机构的结构特点； 3开发设计与整机匹配的执行机构系统及驱动系统； 4验证设计方案的先进性及可行性，并根据国家及行业标准，进行必要的结构验算。 5完成开发部分装配图及主要零件零件图二、毕业设计（论文）的要求与数据 1参照单包质量50g；包装速度80包/min的小型立式包装机原型，开发最大单包质量1000g；最大包装速度45包/min包装机横向封口； 2.包装袋纵横尺寸比2:1，考虑颗粒包装物最小密度2.0g/cm3，确定自动成袋最大制袋长度； 3.设计总体方案应综合考虑标准、需求、功能、经济等方面影响因素； 4以设计说明书形式撰写论文，重点阐述设计过程关键结构设计依据、实施过程、功能效果，符合课题相关规定； 5遵循相关国家标准、行业标准绘制产品总装图、部分主要零件图，工程图纸表达准确、清晰、规范。三、毕业设计（论文）应完成的工作1完成二万字左右的毕业设计说明书；在毕业设计说明书摘要中必须包括详细的300-500个单词的中英文摘要；2独立完成与专业相关不少于四万字符的科技英文资料翻译（附英文原文）；3完成主要结构设计；4提交的成果工作量绘图折合A0图纸3张以上，其中必须包含两张A3以上的计算机绘图工程图纸。四、应收集的资料及主要参考文献1 机械设计手册联合编写组.机械设计手册M.北京：化学工业出版社2006.（以近五年内新版、实用为目的，不局限具体编者、版本）2 刘会霞，金属工艺学M.北京：中国机械教育协会机械工业出版社，2011.063 陈长生，机械基础M.北京：机械工业出版社，2010.114 周文玲，互换性与测量技术M.北京：机械工业工业出版社，2011.065 孙靖民，现代机械设计方法M.黑龙江：哈尔滨工业大学出版社，20136 李念奎等，铝合金材料及热处理技术M.北京：冶金工业出版社，2012.7 万晓航等，CAXA制造工程师2008实用教程M.北京：北京理工大学出版社，2010.078 韩志军等，工程力学M.北京：科学出版社2011.079 Robert O.ParmlepP.E.，机械设计零件及装配图册M.北京：机械工业出版社2013.0410 郑雪梅等，机械零部件测绘造型M.北京：清华大学出版社2010.0711 万苏文等，典型零件工艺分析与加工M.北京：清华大学出版社2010.0812 David G.Ullman,The Mechanical Desige ProcssM.北京：机械工业出版社.2010.04（原书第四版）五、试验、测试、试制加工所需主要仪器设备及条件计算机一台CAD设计软件任务下达时间：2015年12月28日毕业设计开始与完成时间：2015年12月28日至 2016年05 月22日组织实施单位： 机械制造工程系教研室主任意见：签字： 2015年12月30日院领导小组意见：签字： 2015年12月31日编号： 毕业设计(论文)开题报告题 目： 立式系列包装机横向封口 系统开发设计 院 （系）： 机电工程学院 专 业： 机械设计制造及其自动化 学生姓名： 陈金品 学 号： 1200110403 指导教师单位： 桂林电子科技大学 姓 名： 黄伟 职 称： 讲师 题目类型：理论研究 实验研究 工程设计 工程技术研究 软件开发 2016年3月1日1毕业设计的主要内容、重点和难点等一、主要内容：立式枕型自动包装机是各类食品、医药、化工等行业产品外包装最常用的机械之一，目前由于市场竞争和人们对设备品质需求两方面的影响，该类设备不论是局部还是整体都面临不断地的更新。立式包装机横向封口机构具有水平、垂直两个方向的往返运动，存在运行冲击、工作噪声大，适应的包装速度较低。本设计以提高设备效率和运行稳定性为目标。本课题设计的主要内容包括：1熟悉相关设计标准，掌握资料检索方法，熟练阅读各类工程图纸； 2查询国内外同类机型横向封口机构的结构特点； 3开发设计与整机匹配的执行机构系统及驱动系统； 4验证设计方案的先进性及可行性，并根据国家及行业标准，进行必要的结构验算。 5完成开发部分装配图及主要零件零件图二、毕业设计（论文）的要求与数据 1参照单包质量50g；包装速度80包/min的小型立式包装机原型，开发最大单包质量1000g；最大包装速度45包/min包装机横向封口； 2.包装袋纵横尺寸比2:1，考虑颗粒包装物最小密度2.0g/cm3，确定自动成袋最大制袋长度； 3.设计总体方案应综合考虑标准、需求、功能、经济等方面影响因素； 4以设计说明书形式撰写论文，重点阐述设计过程关键结构设计依据、实施过程、功能效果，符合课题相关规定；5遵循相关国家标准、行业标准绘制产品总装图、部分主要零件图，工程图纸表达准确、清晰、规范。三、本毕业设计重点和难点： （1）重点： 1. 开发设计与整机匹配的执行机构系统及驱动系统； 2.开发最大单包质量1000g；最大包装速度45包/min包装机横向封口； 3.确定自动成袋最大制袋长度。 （2）难点： 1.完成自动包装机执行机构设计，驱动装置，传动系统，选择合理的控制系统； 2.设计合理的纸带成型器，横封、纵封、切断、下料等执行机构结构； 3.进行各轴的理论计算和强度校核。2准备情况（查阅过的文献资料及调研情况、现有设备、实验条件等）一、调研情况 经查阅相关书籍资料并结合所学过的机械等相关知识,；了解国内外立式包装机的技术发展，结构设计，控制系统设计等，为自己的设计做好准备。 小袋立式包装机广泛应用于小袋食品药品的包装，如豆奶粉、速溶咖啡、方便面调料包等。因为它与人们的日常生活息息相关，所以市场需求量大，发展前景很大，它能够提供给消费者简便、易携带、分量适中的商品，相对于体积大、重量大、不易携带、分量多的大包装，它适用于在旅游、餐饮等用量不大的环境。但小袋包装自身也存在了一定的问题，比如它容易造成包装材料的浪费，从而也在一定程度上对环境造成了影响。对于研究新型无污染材料有得花费一定的成本。开发设计大袋立式包装机可以减少这一缺陷，降低成本，提高利润。 二、国内外立式包装机发展现状市场对于大袋包装的需求拉动了立式包装机的技术的发展。德国、美国、日本、意大利为世界四大包装机械大国。品种和产量均居世界之首的美国十分重视包装机械与计算机紧密结合，实现机电一体化控制，将自动化操作程序、数据收集系统、自动检验系统更多应用于包装机械之中。日本的包装机械控制系统也十分先进和完善，有效地促进了无人操作和自动化程度的提高。在计量、制造和技术性能等方面居于世界领先地位的德国也高度重视提高包装机械的自动化程度。为使新产品开发速度不断加快，德国包装机械设计已普遍采用了计算机仿真技术，即将各种机器元素以数据库存入计算机，设计人员根据要求直接调用各种机器零、部件参数进行设计后，计算机即可自动合成为三维模型。再把实际生产时的数据和指标输进去，把各种可能发生的故障输进去，计算机三维模型即可依照真实工作情况进行操作，使 客户根据显示屏上显示的图像和曲线一目了然，并可根据客户的意见修改模型。计算机合成速度很快，因此修改工作迅速方便，直到使客户或设计者满意。采用计算机仿真设计技术，大大缩短了包装机械的开发设计周期。 而国内生产的粉料立式包装机速度低，品种少，精度低，可靠性低，自动化和智能化水平低，低水平重复建设严重，开发能力不足等方面。我国应实现食品包装机械机电一体化，建立集成化的包装机械新体系，实现包装技术智能化，开发设计绿色包装机械。 三、课题目的和意义随着经济的发展，人们生活水平的日益提高，对产品的包装要求也越来越高。立式包装机是轻工业生产中必不可少的自动机械之一，其主要用于各种颗粒，粉料产品的包装。我国近些年来包装工业发展迅速，但又在某种程度上受到机械工业发展相对滞后的影响。包装机械发展也较为缓慢，因此进行颗粒包装机的设计研究具有一定的意义。通过本次毕业设计，使学生对包装机械有一总体了解，对颗粒包装机的工作过程进行具体的分析、研究，尽量做到有所创新。同时培养学生对大学所学知识的理解，收集、查阅文献资料的能力，发现、分析、解决问题的能力。 四、参考文献 1机械设计手册联合编写组.机械设计手册M.北京：化学工业出版社，2006. 2韩志军等.工程力学M.北京：科学出版社，2011.07 3濮良贵.机械设计（第九版）M.北京：高等教育出版社，2013 4Robert O.ParmlepP.E.机械设计零件及装配图册M.北京：机械工业出版社， 2013.04 5郑雪梅等.机械零部件测绘造型M.北京：清华大学出版社，2010.07 6孙凤兰.马喜川.包装机械概论M.北京:印刷工业出版社,2006. 7张西良.立式包装机工艺过程及控制系统研究J.轻工机械,2003,(3):27-29 8朱满.,周长会.付云强.粉料包装机用排料泵的改进J.矿山机械，2005,33（9）： 112-114 9黄志刚.计算机仿真技术在包装机械设计制造中的应用J.包装工程,2002,（3）： 6768 10粉状调味品包装设备水平式全自动包装机J.中国包装工业,2008,(3):16 11林学翰.包装技术与方法M.长沙:湖南大学出版社，1988 12许林成.赵治华,王治.包装机械原理与设计M.上海:上海科学技术出版社， 1998 13杨仲林.包装自动控制技术及应用M.北京：中国轻工业出版社，2008 五、试验、测试、试制加工所需主要仪器设备及条件 计算机一台、CAD软件以及相关三维绘图软件Solidworks2012等。3、实施方案、进度实施计划及预期提交的毕业设计资料一、实施方案： （1）先理解并明确自己毕设课题及要求； （2）查阅并收集与立式包装机横向封口设计相关的资料； (3)把收集到的资料进行整理，进行方案的设计；(4) 完善并确定设计的方案，按毕设要求完成开发最大单包质量1000g；最大包装速度45包/min包装机横向封口设计，计算出自动成袋最大制袋长度，选用合适的电机作为原动力，确定完成执行机构设计，驱动装置，传动系统。选择合理的控制系统。设计合理的纸带成型器，横封、纵封、切断、下料等执行机构结构。对相应的连接部分的轴进行理论计算和强度校核，选取合适的轴承。画出其装置的总装配图及相关的零件图，并表述装置的工作原理过程。进行毕业论文（设计）初稿； （5）进行修改，并最后定稿，并且完成计算机绘制图和外文翻译； （6）核查相应的图纸设计、毕业设计论文格式，完成毕业设计，提交论文。二、进度计划：(1）2015-12-292015-1-6所选择的课题进行调研、查阅资料、方案设计；(2）2015-1-152016-2-28查阅资料，明确设计目的，完成开题报告，收集与课题相关的资料及参考文献，查阅专业相关中英文科技资料； （3）2016-2-292016-3-14完成科技英文资料翻译；(4）2016-3-152016-3-18完善并确定最初方案，制定立式包装机横向封口总体设计方案；(5）2016-3-192016-03-23根据设计要求，计算最大制袋长度，根据包装机要求达到的速度，确定选用的电机及相应参数选取； （6）2016-3-242016-3-31设计立式包装机传动系统，确定其传动类型和方式。 （7）2016-4-12016-4-8设计各轴的尺寸并强度校核。 （8）2016-4-92016-4-15查找资料了解对包装机下料填充系统，横向封口机构，供模装置的设计； （9）2016-4-162016-4-20设计计算各部分结构参数和尺寸； （10）2016-4-212016-4-28用三维软件画包装机三维样机； （11）2016-4-292016-5-5完成运动仿真； （12）2016-5-62016-5-12画出其装置的总装配图及相关的零件图。进行毕业论文（设计）初稿； (13）2016-5-132016-5-20根据指导教师意见进行修改，并最后定稿，并且完成计算机绘制图；(14）2016-5-212016-5-25核查相应的图纸设计、毕业设计论文格式；(15）2016-5-262016-6-5完成毕业设计，提交论文。三、预期提交：1、立式系列包装机横向封口系统开发设计说明书；2、英文资料翻译（附英文原文）；3、CAD绘制立式包装机横向封口装配图、零件图及控制系统原理图。指导教师意见同意开题。指导教师（签字）： 2016年3月日开题小组意见开题小组组长（签字）：22016年3月日 院（系、部）意见 主管院长（系、部主任）签字： 2016年3月日- 7 -2016年机电工程学院毕业设计(论文)进度计划表学生姓名： 陈金品 学号：1200110403序号起止日期计划完成内容实际完成内容检查日期检查人签名12015.12.1428-2016.01.03（上学期第17周）对所选择的课题进行调研、查阅资料、方案设计21.04-1.10（上学期第18周）查阅并收集与立式包装机横向封口设计相关的资料31.11-1.17（上学期第19周）完成科技英文资料翻译41.18-1.24（上学期第20周）完善并确定最初方案，制定立式包装机横向封口总体设计方案52.29-3.06（本学期第1周）根据设计要求，计算最大制袋长度，根据包装机要求达到的速度，确定选用的电机及相应参数选取63.07-3.13（本学期第2周）设计立式包装机传动系统，确定其传动类型和方式73.14-3.20（本学期第3周）设计各轴的尺寸并强度校核83.21-3.27（本学期第4周）查找资料了解对包装机下料填充系统，横向封口机构，供模装置的设计(本表同时作为指导教师对学生的16次考勤记录)2016年机电工程学院毕业设计进度计划表（续）学生姓名： 陈金品 学号：1200110403序号起止日期计划完成内容实际完成内容检查日期检查人签名93.28-4.03（本学期第5周）设计计算各部分结构参数和尺寸104.04-4.10（本学期第6周）用三维软件画包装机三维样机114.11-4.17（本学期第7周）制作成型的三维装配体，完成运动仿真124.18-4.24（本学期第8周）画出其装置和机构的总装配图134.25-5.01（本学期第9周）绘制相关机构的零件图。进行毕业论文（设计）初稿145.02-5.08（本学期第10周）根据指导教师意见进行修改，并最后定稿，并且完成计算机绘制图155.09-5.15（本学期第11周）核查相应的图纸设计、毕业设计论文格式165.16-5.22（本学期第12周）完成毕业设计，提交论文任务下达时间：2015年12月04日(本表同时作为指导教师对学生的16次考勤记录)第 3 页 共 4 页毕业设计（论文）中期检查表（指导教师）指导教师姓名：黄伟填表日期： 2016 年 4 月 27 日学生学号1200110403学生姓名陈金品题目名称立式系列包装机横向封口系统开发设计已完成内容（请根据任务书进度计划认真检查）（一）开题报告；（二）科技英文资料翻译；（三）立式包装机横向封口总体设计方案；（四）横封机构三维图和二维图。 检查日期：完成情况全部完成按进度完成滞后进度安排存在困难1、传动系统中相关参数和零件尺寸的确定；2、横封机构中凸轮外形轮廓的确定；3、在横封器中增加切断机构；解决办法通过查找相关资料，对各个零件参数和尺寸的初步选取，再与指导老师答疑，解决其问题。预期成绩优 秀良 好中 等及 格不及格建议 教师签名： 教务处实践教学科制表说明：1、本表由检查毕业设计的指导教师如实填写；2、此表要放入毕业设计（论文）档案袋中；3、各院(系)分类汇总后报教务处实践教学科备案。编号： 毕业设计(论文)外文翻译（原文）院 （系）： 机电工程学院 专 业： 机械设计制造及其自动化 学生姓名： 陈金品 学 号： 1200110403 指导教师单位： 机电工程学院 姓 名： 黄 伟 职 称： 讲 师 2016年 6 月 3 日第 20 页 共 17 页桂林电子科技大学毕业设计（论文）外文翻译（原文）ManipulatorManipulator is nearly decades developed a kind of high-tech automatic production equipment. Industrial manipulator is industrial robot as an important branch. Its characteristic is can programmed to perform a variety of expected task, structure and performance in both of their respective and robot a bit, especially reflected the intelligence of person and adaptability. Manipulator and the accuracy of all kinds of environment homework in finish the homework ability, in all areas of the national economy has broad prospects for development. Along with the development of industrial automation, the emergence of anc machining center, it in to reduce the labor intensity and at the same time, greatly improving the productivity of Labour. But in the numerical control processing common up-down material process, usually still use manual operation or traditional relay control half automatic device. The former drilling wastes time workers, the efficiency is low; The latter for design complex, need to be more relays, wiring multifarious, vulnerable to body vibration interference, and exist to poor reliability and analyzed, maintenance difficulty. Programmable controller PLC control of the robot control system action up-down material is simple, convenient, circuit design is reasonable, has strong anti-jamming ability, ensure that the system reliability of operation and to reduce the maintenance rate, and improve work efficiency. Manipulator involves mechanics, mechanics, electric hydraulic pressure technology, automatic control technology, the sensor technology and computer technology, the field of science, and is an interdiscipline integrated technology.First, a industrial overview of manipulatorManipulator is a position control and automation to programming changes to the multi-function machine, it has more freedom, can be used to carry object to complete in every different environment. In the low level of wages in China, the plastic products industry still belongs to the labour-intensive, the use of robots has been more and more popular. The electronic and cars in the United States and Europe multinational companies have long in the factory in China they brought in the automation production. But now the change is the distribution in the industrial intensive south, east coastal area of China local plastic factories are beginning to manipulator show more and more interest, because they will face losing workers high, as well as the challenges of inductrial injury worker pay.With the rapid development of our industrial production, especially after the reform and development, automation degree of increasing quickly, realize the workpiece loading, unloading, turn to, transmission or operating fiber airbrush, welding, and wrench and tools for processing, assembling and homework since the change, already more and more cause our attention.Manipulator is part of the action imitating the hands, according to the given program, track and demanding acquirement, handling or operation of the automatic mechanical device.In real life, if you will find such a problem. In machinery factory, processing components of loading and unloading time is very vexed, labor productivity is not high, the production cost, sometimes happen some human accident, resulting in processors were injured. Think about it with what can instead of it, processing of time as long as there are several people looked around the, and can be twenty-four hours in saturated operation, pedestrian? The answer is yes, but manipulator can instead of it.Production application can improve the production of the manipulator automation level and the labor productivity; Can reduce labor intensity, ensure the quality of products, and realize safe production; Especially in high temperature, high pressure, low temperature, low pressure, dust, explosive, toxic gases and radiation and other heavy environment can replace people normal work. Thought of here I very want to design a manipulator, to used in the production practice.Why choose the design with pneumatic manipulator to provide the power: pneumatic manipulator is to point to to compressed air as power source drive of the manipulator. With pneumatic drive and other energy drive more has the following advantages: 1. The air inexhaustible, and after with vented into the air, do not need to recycle and the processing. Dont pollute the environment, (environmental protection concept) 2. The air with sex is very small, in pipeline pressure loss also very small (general gas road less than one over one thousand of the oil resistance losses), facilitate transmitted over a long distance. 3. Compressed air pressure low (is commonly 4 to 8 kg/every square centimeters), so the pneumatic components material and manufacturing precision requirement can be reduced. 4. And hydraulic transmission than its action and reaction are fast, this is one of the advantages of pneumatic outstanding. 5. Air medium clean, also wont metamorphic pipeline, not easy jam. But also have it the shortage of place: 1. Because the air compressibility, the pneumatic working stability of poor, therefore cause actuators movement speed and accuracy as not easy to control. 2. Use low air pressure because, output force cant be too big, in order to increase output force, will make the whole pneumatic system structure size increase.With pneumatic drive and other energy is driven by the following advantages:Air inexhaustible, and after with vented into the air, do not need to recycle and the processing. Dont pollute the environment. Accidental or a small amount of leakage from serious influence on production.Air sticky is very small, in pipeline pressure loss was small, facilitate transmitted over a long distance.Compressed air pressure is low, so the pneumatic components material and manufacturing precision requirement can be reduced. Generally speaking, reciprocating motion thrust in 1 2 tons of the following adopt pneumatic economy is better.And hydraulic transmission than its action and reaction are fast, this is one of the advantages of pneumatic outstanding.Air medium clean, also wont metamorphic pipeline, not easy jam.It can be safely used in inflammable, explosive and dust great occasion, this is one of the pneumatic prominent advantages.Second, the composition of the manipulatorThe form of manipulator is various, some relatively simple, some is relatively complex, but the basic form of is the same, generally, the executing agency, transmission system, control system and auxiliary device component.2.1 The enforcement agenciesManipulator of actuators, by hand, wrist, arm, the prop composition. The hand is grab institutions, used to clamping and loosen the workpiece, and people are similar to the fingers, to complete the hands of similar action. Wrist is connected with the finger arm components, can go up and down, and turn around. Simple manipulator can do not have the wrist. Pillar used to support the arm, can also according to need to make the move.2.2 Transmission systemActuator action by the transmission system to to realize.Commonly used manipulator transmission system mechanical transmission, points of hydraulic drive, pneumatic transmission and power transmission of several forms.2.3 The control systemRobot control system is the main purpose of control manipulator according to certain procedures, direction, position, speed movement, the simple manipulator general do not set up the special control system, only the stroke switch, relay, the control valve and the circuit of transmission system control can be realized, make the enforcement agencies as required action, action complex manipulator is by using the programmable controller, microcomputer control.Third,one of the manipulator, classification and characteristicsGeneral manipulator is divided into three categories: the first kind is do not need artificial operation of the general manipulator. It is a kind of independent not attached to a host of the device. It may, according to the requirements of the task programming, to complete the operation of the provisions. Its characteristic is to have general machinery performance besides, still have the general machinery，memory intelligence three yuan machinery. TTie second type is need artificial do, called CaoZuoJi. It originated in the atomic, military industry, first through the CaoZuoJi to accomplish a specific assignments, and then to use radio signal CaoZuoJi to explore the moon, etc. The CaoZuoJi forging industry also belong to this category. The third kind is to use professional manipulator, mainly attached to the automatic machine or automatic line, to solve the machine tool and workpiece up-down material transfer. This manipulator in foreign called Mechanical Hand, it is to host the service, the host drive; Except a few beyond, working procedures generally is fixed, so is special. Main features:(1)manipulator (up-down material manipulator, assembly robots, carrying manipulator, and stacking robots, power manipulator, vacuum handling machine, vacuum crane, energy sling, pneumatic balance machine etc)(2)cantilever crane (cantilever crane, electric chain hoist crane, pneumatic balance to hang and so on)(3)guide rail type handling system (suspension rail, light rail, single-girder crane, double beam crane)(4)the application of industrial robotsManipulator is in mechanization. Automatic production process developed a kind of new type of device. In recent years, with electronic technology, especially the wide application of electronic computers robot development and production in the field of high technology has become a rapidly develop a new technology, it promotes the development of more manipulator, making the manipulator to better achieve and mechanization and automation organic union.Although at present the manipulator hand than as flexible, but it has constant repetition of work and labor, dont know fatigue, not afraid, snatch the power of heavy risk than big hands and other characteristics，therefore，manipulator has been many departments of attention and was to get more and more extensive application, for example:(1)machine tools machining of loading and unloading, especially in the automatic lathe, combination machine tools are normal use.(2)in the assembly work is used widely, in the electronics industry, it can be used to assembly of printed circuit board, in mechanical industry, it can be used to assemble parts(3)can be in labor conditions poor, repetitive easy fatigue working environment, in order to replace human labor.(4)can be in dangerous situations, such as military article of loading and unloading,and dangerous goods and hazardous substances handling, etc.(5)the universe, and the development of the sea.(6)military engineering and biomedical research and testing.Power manipulator: also called the balance, the balance suspending, energy sling, manual shift in machine, and so on, it is a kind of zero gravity bearing system of manual, a kind of new and used for material handling ShengLiHua operation of the power equipment, belongs to a kind of non-standard design series of products. According to customer application needs, bespoke case creation.A simulation manually automation machinery, it can be according to fixed program grab. Transporting or go to complete some specific operating tools. Applications can replace people engaged in drab manipulator, repeated or heavy manual work, realize the mechanization of manufacturing and automation, instead of people in harmful environment of manual operation, improve working conditions, and ensure that the personal safety. The 1940 s, the United States in the atomic energy experiments, first using manipulator handling radioactive materials, people in a safe room manipulate manipulator to operate and experiment. 50 s, manipulator to industrial production gradually extending department, used in high temperature, serious pollution place take a problem and loading and unloading material, also as the auxiliary devices in machine tool automatic machine, automatic production line and processing center in application, complete up-down material or from library take put the knife cutting tools and according to fixed program change tools operation. Manipulator hand institutions and mainly by adsorption type etc. Sports organizations are usually made of hydraulic, pneumatic and electric device drivers. Robots can independently, spin and realize the expansion and movement, generally have 2 3 degrees of freedom. Manipulator is widely used in mechanical manufacturing, metallurgy, light industry and atomic energy and other departments. Can imitate the arms of the manpower and some action function, according to fixed program to grab, transporting or operating tool for automatic operation of the device. It can replace the hard labor in order to realize people the mechanization of manufacturing and automation, can in harmful environment operation to protect personal safety, and widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments. Robots are used for machine tools or other machines additional device, such as in the automatic machine or automatic production line loading and unloading and transfer on the processing center in replaced in the tools, generally no independent control device. Some operations to direct manipulation by device, as for atomic energy department operation dangerous goods masterslave gunner is often called the manipulator.Manipulator by hand and sports organizations main component. The hand is used to catch the workpiece (tools) components, according to be grasped by the objects shape, size, quality, materials and operational requirements and have a variety of structure forms，such as the gripping type，the type and adsorption type ”，etc. Movement mechanism, make hand finish all kinds of rotation (swing), mobile or complex movement to achieve the specified action, change the position of the object be grasped by the pose and.In automatic manipulator is used in the production process of a kind of has crawled and mobile workpiece function of automatic device, it is in the mechanized, automatic production, developed a kind of new type of device. In recent years, with electronic technology, especially the wide application of electronic computers robot development and production in the field of high technology has become a rapidly develop a new technology, it promotes the development of more manipulator, making the manipulator to better achieve and mechanization and automation organic union. Robots can replace human complete risk, to do a job, ease human labor intensity and improve labor productivity. Manipulator has been applied more and more extensive, in mechanical industry it can be used for spare parts assembly, processing the transportation, loading and unloading, especially in automation CNC machines, combination machine tools on more general use. At present, the manipulator has already developed into flexible manufacturing system FMS and flexible manufacturing unit in the FMC an important component. The machine tool equipment and manipulator compose a flexible manufacturing system or flexible manufacturing unit, it was adapted to. Small batch production, can save a huge workpiece feeding, compact structure, and strong adaptability. When the workpiece is altered, flexible production system is easy to change, be helpful for enterprise continuously updated the varieties suitable for road, improve the quality of products. Better adapt to the requirements of market competition. At present in our country and the industrial robot technology and its application in level at home and abroad and than there is a certain distance, the application of the scale and low level of industrialization, research and development of the manipulator directly affected our country automation production level increased, from the economy. Technology on consideration is very necessary. Therefore, the study design for manipulator is very significant.Fourth, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1)Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2)In the assembly operations arc widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry.It can be used to assemble parts and components.(3)The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4)May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on.(5)Universe and ocean development.(6)Military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, anovel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized eases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping support and adsorption type of care. Movement organs arc generally hydraulic pneumatic electrical device drivers. Manipulator can be achieved independently retractable rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots arc widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting t(K)ls in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight,material and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture.Robot is the automated production of a kind used in the process of crawling and moing piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, Chinas industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations arc very necessary. Therefore, the study of mechanical hand design is very meaningful.Along with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because of microelectronics technology and calculation software and hardware technology rapid development and modem control theory, the perfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliability characteristic, has penetrated into ever) sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions, rotating mechanical parts base. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient.Matters of the manipulator axial linkage simple structure and action processManipulator structure, as shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc.It is motion control mode is: (I) can rotate by servomotor Angle for 360 breath control manipulator (photoelectric sensor sure start 0 point); (2) by stepping motor drive screw component make along the X, Y manipulators move (have X, Y axis limit switches); (3) can rotates 360 can drive the turntable institutions manipulators and bushings free rotation (its electric drag in part by the dc motivation, photoelectric encoder, close to switch etc); (4) rotating base main support above 3 parts; (5) gas control manipulator by pressure control (Zhang close when pressed on, put inflatable robot manipulators loosen) when gas.Its working process for: when the goods arrived, manipulator system begins to move; Stepping motor control, while the other start downward motion along the horizontal axis of the step-motor controller began to move exercise; Servo motor driver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods.Vertical axis stepper motor drive up, the other horizontal axis stepper motor driver started to move forward; rotary DC motor rotation so that the whole robot motion, go to the cargo receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve, mechanical hand release the goods; system back to the place ready for the next action.Fifth,Control decice selectionTo achieve precise control purposes, according to market conditions, selection of a variety of key components as follows:5.1 Stepper motor and driveMechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-phase hybrid stepping motor, step angle of 0.9 / 1.8 ,current is 1.5A. Ml is the horizontal axis motor driven manipulator stretch, shrink; M2 is the vertical axis motor driven manipulator rise and fall. The choice of stepper motor drive is SH-20403 type, the drive uses 10 - 40V DC power supply, H-phase bridge bipolar constant current drive, the maximum output current of 3A of the 8 optional, maximum fine of 64 segments of 7 sub-mode optional optical isolation, standard single-pulse interface, with offline capabilities to maintain semi-sealed enclosure can be adapted to environmental conditions even worse, provide semi-current energy-saving mode automatically. Drive the internal switching power supply design to ensure that the drive can be adapted to a wide voltage range, the user can according to their circumstances to choose between the 10 - 40VDC. Generally the higher rated power supply voltage can improve high-speed torque motor, but the drive will increase the loss and temperature rise. The maximum output drive current is 3A / phase (peak), six drive-panel DIP switch on the first three can be combined 5,6,7 8 out of state, corresponding to the 8 kinds of output current from 0.9A to 3A to meet the different motors. The drive can provide full step, half step improvement, subdivision 4, 8 segments, 16 segments, 32 segments and (4 segments of 7 operating modes. The use of six of the drive panel DIP switches 1,2and3 can be combined from three different states.5.2 Servo motors and drivesManipulator with Panasonic servo motor rotational movement A series of small inertia MSMA5AZA1Q the rated 50W, 100/200V share, rotary incremental encoder specifications (number of pulses 2500p / r, resolution of 1000p / r, Lead 11 lines) ; a seal, no brakes, shaft with keyway connections. The motor uses Panasonics unique algorithms, the rate increased by 2 times the frequency response, to 500Hz; positioning over the past adjust the scheduled time by Panasonic servo motor products for the V Series of 1 / 4. With the resonance suppression, control, closed loop control, can make up for lack of mechanical rigidity, in order to achieve high positioning accuracy can also be an external grating to form closed loop control to further improve accuracy. With a conventional automatic gain adjustment and real-time automatic gain .Interest adjustment in the automatic gain adjustment methods, which also has RS-485, RS-232C communication port, the host controller can control up to 16 axes. Servo motor drives arc a series MSDA5A3A1 A, applicable to small inertia motor.5.3 DC machine360 swing of the turntable can be a brushless DC motor driven organization, the system is chosen when the profit company in Beijing and the 57BL1010H1 brushless DC motor, its speed range, low-speed torque, smooth running, low noise, high efficiency. Brushless DC motor drive using the Beijing and when Lees BL-0408 produced by the drive, which uses 24 - 48V DC power supply, a start-stop and steering control, over current, overvoltage and locked rotor protection, and there is failure alarm output external analog speed control, braking down so fast.5.4 Rotary encoderCan swing 360 in the body on the turntable, fitted with 0fR0N E6A2 produced incremental rotary encoder, the encoder signals to the PLC, to achieve precise positioning of rotary bodies.5.5 PLC SelectionAccording to the system design requirements, the choice of OMRON CPM2A produced minicomputer. CPM2A in a compact unit integrated with a variety of properties, including the synchronization pulse control, interrupt input, pulse output, analog set and clock functions. CPM2A the CPU unit is a stand-alone unit, capable of handling a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communications and personal computers, other OMRON PC and OMRON Programmable Terminal communication. The communication capability allows the robot to Axis simple easy integration into industrial control systems.Sixth,software, programming6.1 Software flow chartPLC programming flow chart is based. Only the design flow, it may be smooth and easy to prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program design is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure .6.2 Program partBecause space is limited, here only paper listed the first two program segment for readers see.Seventh,ConditionAxis simple robot state by the various movements and PLC control, the robot can not only meet the manual, semi-automatic mode of operation required for such a large number of buttons, switches, position detection point requirements, but also through the interface components and Computer Organization PLC industrial LAN, network communication and network control. Axis simple robot can be easily embedded into industrial production pipeline.Electromechanical integration technology and its application1 An electromechanical integration technology development Mechatronics is the machinery, micro-, control, aircraft, information processing, and other cross-disciplinary integration, and its development and progress depends on the progress of technology and development, the main direction of development of a digital, intelligent, modular, and human nature , miniaturization, integration, with source and green. 1.1 Digital Microcontroller and the development of a number of mechanical and electrical products of the base, such as the continuous development of CNC machine tools and robots, and the rapid rise of the computer network for the digital design and manufacturing paved the way for, such as virtual design and computer integrated manufacturing. Digital request electromechanical integration software products with high reliability, easy operability, maintainability, self-diagnostic capabilities, and friendly man-machine interface. Digital will facilitate the realization of long-distance operation, diagnosis and repair. 1.2Intelligent Mechanical and electrical products that require a certain degree of intelligence, it is similar to the logical thinking, reasoning judgement, autonomous decision-making capabilities. For example, in the CNC machine increase interactive features, set up Intelligent I / O interface and intelligent database technology, will use, operation and maintenance of bring great convenience. With fuzzy control, neural network, gray, wavelet theory, chaos and bifurcation, such as artificial intelligence and technological progress and development and the development of mechanical and electrical integration technology has opened up a vast world. 1.3Modular As electromechanical integration products and manufacturers wide variety of research and development of a standard mechanical interface, dynamic interface, the environment interface modules electromechanical integration products is a complex and promising work. If the development is set to slow down. VVVF integrated motor drive unit with vision, image processing, identification and location of the motor functions, such as integrated control unit. Thus, in product development, design, we can use these standards modular unit quickly develop new products. 1.4 Network As the popularity of the network, network-based remote control and monitoring of various technical ascendant. The remote control device itself is the integration of mechanical and electrical products, fieldbus technology to household appliances and LAN network possible, use a home network to connect various home appliances into a computer as the center of computer integrated appliances system, so that people in the home can be full enjoyment of the benefits of various high-tech, therefore, electromechanical integration products should be no doubt North Korea networks. 1.5 humanity Electromechanical integration of the end-use product is targeted, how to give people electromechanical integration of intelligent products, emotion and humanity is becoming more and more important, electromechanical integration products in addition to improving performance, it also urged the color, shape and so on and environmental coordination, the use of these products, or for a person to enjoy, such as home robot is the highest state of human-machine integration. 1.6 miniaturization Micro-fine processing technology is a necessity in the development, but also the need to improve efficiency. MEMS (Micro Electronic Mechanical Systems, or MEMS) refers to quantities can be produced by the micro-collection agencies, micro-sensors, micro actuators and signal processing and control circuit until interface, communication and power is one of the micro-devices or systems . Since 1986 the United States at Stanford University developed the first medical microprobe, 1988 at the University of California, Berkeley developed the first micro-motor, both at home and abroad in MEMS technology, materials and micro-mechanism much progress has been made, the development of all sorts MEMS devices and systems, such as the various micro-sensors (pressure sensors, micro-accelerometer, micro-tactile sensor), various micro-component (micro-film, micro-beam, microprobes, micro-link, micro-gear, micro-bearings, micro-pump , microcoil and micro-robot, etc.). 1.7 Integration Integration includes a mutual penetration of various technologies, and integration of various products of different structural optimization and composite, and included in the production process at the same time processing, assembly, testing, management, and other processes. In order to achieve more variety, small batch production of automation and high efficiency, the system should have a more extensive flexible. First system can be divided into several levels, allowing the system to function dispersed, and security and coordination with other parts of the operation, and then through software and hardware at various levels will be organically linked to its optimal performance, the most powerful. 1.8 with source of Electromechanical integration refers to the product itself with energy, such as solar cells, fuel cells and large-capacity battery. As on many occasions not be able to use electricity, which campaigns for the mechanical and electrical integration products, has a unique power source comes with the benefits. Sources with the integration of mechanical and electrical product development direction of. Green 1.9 The development of technology in peoples lives brought great changes in the material at the same time has also brought rich resources, deterioration of the ecological environment consequences. Therefore, people calling for the protection of the environment, regression, and achieving sustainable development in the concept of green products such calls have emerged. Green products is low-power, low-wood consumption, clean, comfortable, coordination and utilization of renewable products. In its design, manufacture, use and destruction of human beings should be in line with environmental protection and health requirements, electromechanical integration of green products is mainly refers to the use of time is not pollute the ecological environment, at the end of product life, and regeneration of decomposition products. 2 electromechanical integration in the application of technology in the iron and steel In the iron and steel enterprises, the integration of mechanical and electrical systems are at the core microprocessor, the computer, industrial computer, data communications, display devices, meters and the combination of technologies such as organic, assembled by the merger means for the realization of a large-scale integrated system create conditions for effective integration, enhanced system control precision, quality and reliability. Electromechanical integration technology in the iron and steel enterprises in the mainly used in the following areas:2.1 Intelligent Control Technology (IC) As a large-scale iron and steel, high-speed continuous and the characteristics of the traditional control technologies encountered insurmountable difficulties, it is necessary to adopt very intelligent control technology. Control technologies include intelligent expert system, neural and fuzzy control, intelligent control techniques in steel product design, manufacturing, control, product quality and diagnostic equipment, and other aspects, such as blast furnace control system, electric furnace and continuous casting plant, steel rolling system , s
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