数控毕业设计-数控平台设计

机械电子课程设计题目：数控平台设计班级：姓名： 学号：指导老师：

目录机械系统设计任务总体方案导轨的选用丝杠的选用轴承的选用电机的选型减速器的设计电气系统 设计任务 驱动电路设计 控制器的选用 人机接口 软件设计 文件设计参考文献附录

机械系统一、设计任务机电传动单向数控平台设计电机驱动方式：步进电机、直流伺服电机、交流伺服电机；机械传动方式：螺旋丝杠、滚珠丝杠、同步皮带、链传动等；电气控制方式：单片微机控制、PLC控制；功能控制要求：速度控制、位置控制；主要设计参数：单向工作行程——1800、1500、1200mm；移动负载质量——100、50kg；负载移动阻力——100、50N；（估算值）移动速度控制——0～3、0～6m/min或实现行程（位置）控制，控制精度±0.01mm,±0.1mm设计选择为：步进电机、滚珠丝杠、单片机控制、速度控制，1200mm、100Kg、50N、0~6m/min，控制精度0.01mm。二、总体方案滚动导轨的特点在相配的两导轨之间，放置滚珠、滚柱或滚针等滚动体，使导轨运动为滚动摩擦，就成滚动导轨。滚动导轨的优点：摩擦系数小，动、静摩擦系数差别小，低速运动时不易出现“爬行”现象；运动灵敏轻便，所需功率小；移动精度和定位精度高；钢制淬硬导轨具有极高的耐磨性，精度保持性好；对温度变化的敏惑性较低；润滑简单，维修方便；高速运动时不会像滑动导轨那样因动压效应而使动导轨浮起。滚珠丝杆是将回转运动转化为直线运动，或将直线运动转化为回转运动的理想的产品。滚珠丝杆由螺杆、螺母和滚珠组成。它的功能是将旋转运动转化成直线运动，这是滚珠螺丝的进一步延伸和发展，这项发展的重要意义就是将轴承从滚动动作变成滑动动作。由于具有很小的摩擦阻力，滚珠丝杠被广泛应用于各种工业设备和精密仪器。步进电机是将电脉冲信号转变为角位移或线位移的开环控制元步进电机件。在非超载的情况下，电机的转速、停止的位置只取决于脉冲信号的频率和脉冲数，而不受负载变化的影响，当步进驱动器接收到一个脉冲信号，它就驱动步进电机按设定的方向转动一个固定的角度，称为“步距角”，它的旋转是以固定的角度一步一步运行的。可以通过控制脉冲个数来控制角位移量，从而达到准确定位的目的；同时可以通过控制脉冲频率来控制电机转动的速度和加速度，从而达到调速的目的。机械传动系统的方案初选为滚动导轨、滚珠丝杆、步进电机。三、滚动导轨滚动导轨的特点摩擦系数小（0.003~0.005）动、静摩擦系数基本相同，因而启动阻力小，且不易发生爬行可以预紧，刚度高；寿命长；精度高，定位精度可达0.1~0.2μm，重复精度可达0.2μm由专业厂生产，可以外购选用；抗振和抗冲击能力差，对灰尘屑末较敏感。对滚动导轨的基本要求导向精度导向精度是指移动部件沿导轨运动时，在空载与负载情况下，都应保证移动轨的直线性及位置的精确性。各种机床对导轨副本身的平面度、垂直度及等高、等距都胡标准规定。耐磨性导轨副应在预定使用期限内，保持其导向精度，因此导轨副应具有足够的耐磨性。刚度导轨副应有较高的刚度。因此应选用合适的导轨类型、尺寸及其组合。选用可调整间隙和预紧的导轨副可以提高刚度。工艺性导轨副要便于装配、调整、测量、防尘、润滑和维修保养。滚动导轨的分类 滚动导轨分为滚动体循环和滚动体不循环两种。其中滚动体不循环分为滚珠导轨副、滚钍导轨副、圆柱滚子导轨副，滚动体循环分为直线滚动导轨副、滚子导轨块滚动花键副、直线运动球轴承及其支承、滚动导轨块。直线滚动导轨副 上图a,b所示直线导轨副滚动导轨副，是由一根长导轨轴和滑块组成，滑块数根据需要确定，滑块内有四组滚珠，滚珠1与2，3与4，5与6，7与8各为一组，其中负载滚珠为2、3、6、7，回珠为1、4、5、8。随着滑块（或导轨轴）的移动，滚珠就周而复始进行滚动。滚珠的承载方式与角接触球轴承相似，一只滑块相当于4个直线运动的角接触轴承。导轨副的安装位置可以水平安装，也可以垂直或倾斜安装；可以两根或多根导轨并列平行安装，也可以两根或多根短导轨轴串连接长成长导轨轴。直线滚动导轨副的选择根据长度需求暂选直线滚动导轨副GGA40参数如下dBBBBWMMtHAT408560604022.5M10M5×1012753215KLLLHld×D×hGFCC601056022.544.522.59×14×12M8×110517.8kN19.5kN直线运动滚动支承的摩擦力计算计算项目计算过程计算结果负荷PP=mg=100×10=1000N1000N摩擦力FF式中：μ——摩动摩擦系数，μ=0.003~0.005； P——法向载荷(N)； f——密封阻力(N)，每个滑座取f=5(N)； 当P/C0a>0.1时，μ=0.003~0.005；当0.05<P/C0a<0.1时，取μ=0.0130N四、滚珠丝杠滚珠丝杠副的特点传动效率高，滚珠丝杠的传动效率高达95%~98%。运动平稳滚珠丝杠副在工作过程中摩擦阻力小，灵敏度高，而且摩擦系数几乎与运动速度无关，启动摩擦力矩与运动时的摩擦力矩的差别很小。所以滚珠丝杠副运动几乎与运动速度无关，启动摩擦力矩与运动时的摩擦力的差别很小。所以滚珠丝杠副运动平稳，启动时无颤动，低速时无爬行。传动可逆性与滑动丝杠副相比，滚动丝杠副突出的特点是具有运动的可逆性。可以预紧通过对螺母施加预紧力能消除滚珠丝杠副的间隙，提高轴向接触刚度，但摩擦力矩却增加不大。定位精度和重复定位精度高由于滚珠丝杠副具有传动效率高、运动平稳、可以预紧等特点，所以滚珠丝杠副在工作过程中温升较小，无爬行。并可以消除轴向间隙和对丝杠进行预拉伸以补偿热膨胀，能获得较高的定位精度和重复定位精度。同步性好用几套相同的滚珠丝杠副同时驱动相同的部件或装置时，由于反应灵敏，无阻滞，无滑移，其启动的同时性、运行中的速度和位移等，都具有准确的一致性，这就是所谓同步性好。使用寿命长滚珠丝杠和螺母的材料均为合金钢，螺纹滚道经过热处理，并淬硬到HRC58~62，经磨削达到所需的精度和表面粗糙度。实践证明，滚珠丝杠副的使用寿命比普通滑动丝杠副高5~6倍。使用可靠，润滑简单，维修方便与液压传动相比，滚动丝杠副在正常使用条件下故障率低，维修保养也极为方便；通常只需进行一般的润滑与防尘。在特殊使用场合，如核反应堆中的滚珠丝杠副，可在无润滑状态下正常工作。滚珠丝杠副的分类 滚珠丝杠副的类型可以从螺纹滚道的截面形状、滚珠的循环方式和消除轴向间隙的调整方法进行区别。从滚道型面分为单圆弧形和双圆弧形。从滚珠的循环方式分为内循环和外循环。滚珠丝杠副的选型计算项目计算过程计算结果当量负荷F30N当量转速n500r/min丝杠导程P10mm动负荷C寿命系数寿命转速系数其中综合系数f温度系数温度125150175200225250300f0.950.900.850.800.750.700.6硬度系数硬度585552.55047.54540f1.01.111.351.561.922.43.85精度系数精度1、2、34、5710f1.00.90.80.7负荷性质系数负荷性质无冲击平稳运转一般运转有冲击和振动运动f1~1.21.2~1.51.5~2.5可靠性系数可靠度（%）909596979899f1.00.620.530.440.330.21700.980N丝杠选型选用FFZD3210型内循环浮动返向器双螺母垫片预紧滚动滚动丝杠副，型号FFZD3210，额定动负荷Ca=32kNdPDddDDDBC32107.14430≤245390711532kNDDhDMTELLC915942M6668015070kN符合要求丝杠螺纹部分长度l=1200+150+2×40=14301430支承距离支承距离l应大于l1800临界转速校核n丝杠底径d长度计算L支撑方式系数f合格压杆稳定校核两端固定支承，丝杠不受压缩，因而不必校核稳定性预拉力FE钢铁弹模量11×温升伸长量δ3476N轴承选择采用E型和F型轴端，轴承号为7602020TVP，d=20mm,D=47mm,B=14mm,Z=15,Dw=5.593mm,Ca=19600N,F0=2300N轴承的最大轴向载荷为F由于F0合格轴承寿命校核C=合格丝杠在载荷下弹性位移δ=丝杠与螺母接触变形δFFZD32滚珠丝杠的接触刚度K轴承的接触变形δK=23.6×丝杠总位移量δ=五、步进电动机步进电机的特点步进电机是一种将电脉冲信号转换成机械角位移（或线位移）的执行元件。只要控制输入脉冲的数量、频率和电动机绕组的通电顺序，便可获得所需的转角、速度以及转动方向，而不受负载变化的影响，所以很容易用微机控制。当无脉冲输入时，在绕组电流的激励下，步进电动机可以锁相。步距值不受各种干扰因素（如电压的波动、电流的数值和波形、温度的变化等）的影响，只要在它们的大小未引起步进电动机产生“丢步”现象之前，就不影响其正常工作。步进电动机的步距角有误差，转子转过一定的步数，也会有一定的累积误差，但是每转一圈的累积误差为零，所以步距误差不长期积累。控制性能好，转子转动惯量小、动态响应快、易于启停、正反转和变速控制。低速时转矩大、速度控制比较简单、外形尺寸小，所以广泛应用于打印机、绘图机、复印机等机电一体化产品及各类机床、切割机、轻工、包装、医疗器械、机器人等自动控制设备中。步进电动机的类型 步进电动机按其工作原理可分为反应式（VR）、永磁式（PM）和混合式（HB）三种主要类型，其相数有二相、三相、四相、五相、六相、等多种选择。计算项目计算过程计算结果脉冲当量δ=0.010.01步距角θ=0.36丝杠转动惯量丝杠的转动惯量J=丝杠的质量m=ρV=0.001723×7.58×丝杠的体积V=π丝杠的密度ρ=7.58×0.001085kg平台的惯量折算J联轴器的转动惯量联轴器的类型暂选为凸缘联轴器YL1，质量0.94kg，转动惯量0.00180.0018kg折算到电机轴上的负载转动惯量J0.003138kg折算到电机轴上的负载转矩T电动机的加速转矩TJMta电机上的最大负载转矩T电机的选择取安全系数K=2，则必需转矩：T初选电机型号为90BYG550B-0301转动惯量J则有TTM电机频率验算f=从图上可以看出，此速度时的电动机的输出最大转矩大于T合格

控制系统数控平台数控平台限位开关单片限位开关单片机屏幕输出键盘输入步进电机放大电路步进电机放大电路二、单片机控制器单片机是一种集成电路芯片，是采用超大规模集成电路技术把具有数据处理能力的中央处理器CPU随机存储器RAM、只读存储器ROM、多种I/O口和中断系统、定时器/计时器等功能（可能还包括显示驱动电路、脉宽调制电路、模拟多路转换器、A/D转换器等电路）集成到一块硅片上构成的一个小而完善的微型计算机系统，在工业控制领域的广泛应用。从上世纪80年代，由当时的4位、8位单片机，发展到现在的32位300M的高速单片机单片机分类 单片机作为计算机发展的一个重要分支领域，根据目前发展情况，从不同角度单片机大致可以分为通用型/专用型、总线型/非总线型及工控型/家电型。（1）通用型/专用型这是按单片机适用范围来区分的。例如，80C51是通用型单片机，它不是为某种专用途设计的；专用型单片机是针对一类产品甚至某一个产品设计生产的，例如为了满足电子体温计的要求，在片内集成ADC接口等功能的温度测量控制电路。（2）总线型/非总线型这是按单片机是否提供并行总线来区分的。总线型单片机普遍设置有并行地址总线、数据总线、控制总线，这些引脚用以扩展并行外围器件都可通过串行口与单片机连接，另外，许多单片机已把所需要的外围器件及外设接口集成一片内，因此在许多情况下可以不要并行扩展总线，大大减省封装成本和芯片体积，这类单片机称为非总线型单片机。（3）控制型/家电型这是按照单片机大致应用的领域进行区分的。一般而言，工控型寻址范围大，运算能力强；用于家电的单片机多为专用型，通常是小封装、低价格，外围器件和外设接口集成度高。显然，上述分类并不是惟一的和严格的。例如，80C51类单片机既是通用型又是总线型，还可以作工控用。单片机的选择89C51是一种带4K字节闪烁可编程可擦除只读存储器（FPEROM—FalshProgrammableandErasableReadOnlyMemory）的低电压、高性能CMOS8位微处理器，俗称单片机。单片机的可擦除只读存储器可以反复擦除100次。该器件采用ATMEL高密度非易失存储器制造技术制造，与工业标准的MCS-51指令集和输出管脚相兼容。由于将多功能8位CPU和闪烁存储器组合在单个芯片中，ATMEL的89C51是一种高效微控制器，89C2051是它的一种精简版本。89C单片机为很多嵌入式控制系统提供了一种灵活性高且价廉的方案。三、人机接口的设计本次电气设计中，根据对平台速度控制的设计，分为五个速度档，速度依次为1m/min，2m/min，3m/min，4m/min，5m/min分别由五个按键构成，同时由一个七段译码管组成，一个输入端与一个输出端，构成一个简单的人机接口。四、程序设计开始开始外部中断初始化外部中断初始化电机是否处于启动状态电机是否处于启动状态定时器是否处于终值定时器是否处于终值显示屏幕清零显示屏幕清零屏幕显示当前速度定时器开启定时器屏幕显示当前速度定时器开启定时器设终值终止终止参考文献（1）《现代机械设计手册第5卷》，化学工业出版社，秦大同、谢里阳主编（2）《机械设计课程上机与设计》，东南大学出版社，程志红、唐大放主编（3）《单片机原理与应用及C51程序设计》第2版，清华大学出版社，谢维成、杨加国主编（4）《单片机原理及接口技术》第3版，北京航空航天大学出版社，李朝青主编（5）《画法几何及机械制图》，中国矿业大学出版社，李爱军、陈国平主编（6）《AutoCAD2008使用教程》机械工业出版社，孙海波、姚新港附录/*--------------------------------------------------------------------------REG51.HHeaderfileforgeneric80C51and80C31microcontroller.Copyright(c)1988-2002KeilElektronikGmbHandKeilSoftware,Inc.Allrightsreserved.--------------------------------------------------------------------------*/#ifndef__REG51_H__#define__REG51_H__/*BYTERegister*/sfrP0=0x80;sfrP1=0x90;sfrP2=0xA0;sfrP3=0xB0;sfrPSW=0xD0;sfrACC=0xE0;sfrB=0xF0;sfrSP=0x81;sfrDPL=0x82;sfrDPH=0x83;sfrPCON=0x87;sfrTCON=0x88;sfrTMOD=0x89;sfrTL0=0x8A;sfrTL1=0x8B;sfrTH0=0x8C;sfrTH1=0x8D;sfrIE=0xA8;sfrIP=0xB8;sfrSCON=0x98;sfrSBUF=0x99;/*BITRegister*//*PSW*/sbitCY=0xD7;sbitAC=0xD6;sbitF0=0xD5;sbitRS1=0xD4;sbitRS0=0xD3;sbitOV=0xD2;sbitP=0xD0;/*TCON*/sbitTF1=0x8F;sbitTR1=0x8E;sbitTF0=0x8D;sbitTR0=0x8C;sbitIE1=0x8B;sbitIT1=0x8A;sbitIE0=0x89;sbitIT0=0x88;/*IE*/sbitEA=0xAF;sbitES=0xAC;sbitET1=0xAB;sbitEX1=0xAA;sbitET0=0xA9;sbitEX0=0xA8;/*IP*/sbitPS=0xBC;sbitPT1=0xBB;sbitPX1=0xBA;sbitPT0=0xB9;sbitPX0=0xB8;/*P3*/sbitRD=0xB7;sbitWR=0xB6;sbitT1=0xB5;sbitT0=0xB4;sbitINT1=0xB3;sbitINT0=0xB2;sbitTXD=0xB1;sbitRXD=0xB0;/*SCON*/sbitSM0=0x9F;sbitSM1=0x9E;sbitSM2=0x9D;sbitREN=0x9C;sbitTB8=0x9B;sbitRB8=0x9A;sbitTI=0x99;sbitRI=0x98;#endif#include<reg51.h>sbitP0_0=P0^0;sbitP0_1=P0^1;sbitP0_2=P0^2;sbitP0_3=P0^3;sbitP0_4=P0^4;sbitP0_5=P0^5;sbitP0_6=P0^6;sbitP0_7=P0^7;sbitP1_0=P1^0;sbitP1_1=P1^1;sbitP1_2=P1^2;sbitP1_3=P1^3;sbitP1_4=P1^4;sbitP1_5=P1^5;sbitP1_6=P1^6;sbitP1_7=P1^7;sbitP2_0=P2^0;sbitP2_1=P2^1;sbitP2_2=P2^2;sbitP2_3=P2^3;sbitP2_4=P2^4;sbitP2_5=P2^5;sbitP2_6=P2^6;sbitP2_7=P2^7;sbitP3_0=P3^0;sbitP3_1=P3^1;sbitP3_2=P3^2;sbitP3_3=P3^3;sbitP3_4=P3^4;sbitP3_5=P3^5;sbitP3_6=P3^6;sbitP3_7=P3^7;unsignedcharidatastep=0;unsignedcharidatacount=0;unsignedcharidataspeed=0;intnow=0;intend=0;unsignedcharcodelevel[1202]={0XFF,0XFF,0XFF,0XFE,0XFF,0XFD,0XFF,0XFC,0XFF,0XFB,0XFF,0XFA,0XFF,0XF9,0XFF,0XF8,0XFF,0XF7,0XFF,0XF6,0XFF,0XF5,0XFF,0XF4,0XFF,0XF3,0XFF,0XF2,0XFF,0XF1,0XFF,0XF0,0XFF,0XEF,0XFF,0XEE,0XFF,0XED,0XFF,0XEC,0XFF,0XEB,0XFF,0XEA,0XFF,0XE9,0XFF,0XE8,0XFF,0XE7,0XFF,0XE6,0XFF,0XE5,0XFF,0XE4,0XFF,0XE3,0XFF,0XE2,0XFF,0XE1,0XFF,0XE0,0XFF,0XDF,0XFF,0XDE,0XFF,0XDD,0XFF,0XDC,0XFF,0XDB,0XFF,0XDA,0XFF,0XD9,0XFF,0XD8,0XFF,0XD7,0XFF,0XD6,0XFF,0XD5,0XFF,0XD4,0XFF,0XD3,0XFF,0XD2,0XFF,0XD1,0XFF,0XD0,0XFF,0XCF,0XFF,0XCE,0XFF,0XCD,0XFF,0XCC,0XFF,0XCB,0XFF,0XCA,0XFF,0XC9,0XFF,0XC8,0XFF,0XC7,0XFF,0XC6,0XFF,0XC5,0XFF,0XC4,0XFF,0XC3,0XFF,0XC2,0XFF,0XC1,0XFF,0XC0,0XFF,0XBF,0XFF,0XBE,0XFF,0XBD,0XFF,0XBC,0XFF,0XBB,0XFF,0XBA,0XFF,0XB9,0XFF,0XB8,0XFF,0XB7,0XFF,0XB6,0XFF,0XB5,0XFF,0XB4,0XFF,0XB3,0XFF,0XB2,0XFF,0XB1,0XFF,0XB0,0XFF,0XAF,0XFF,0XAE,0XFF,0XAD,0XFF,0XAC,0XFF,0XAB,0XFF,0XAA,0XFF,0XA9,0XFF,0XA8,0XFF,0XA7,0XFF,0XA6,0XFF,0XA5,0XFF,0XA4,0XFF,0XA3,0XFF,0XA2,0XFF,0XA1,0XFF,0XA0,0XFF,0X9F,0XFF,0X9E,0XFF,0X9D,0XFF,0X9C,0XFF,0X9B,0XFF,0X9A,0XFF,0X99,0XFF,0X98,0XFF,0X97,0XFF,0X96,0XFF,0X95,0XFF,0X94,0XFF,0X93,0XFF,0X92,0XFF,0X91,0XFF,0X90,0XFF,0X8F,0XFF,0X8E,0XFF,0X8D,0XFF,0X8C,0XFF,0X8B,0XFF,0X8A,0XFF,0X89,0XFF,0X88,0XFF,0X87,0XFF,0X86,0XFF,0X85,0XFF,0X84,0XFF,0X83,0XFF,0X82,0XFF,0X81,0XFF,0X80,0XFF,0X7F,0XFF,0X7E,0XFF,0X7D,0XFF,0X7C,0XFF,0X7B,0XFF,0X7A,0XFF,0X79,0XFF,0X78,0XFF,0X77,0XFF,0X76,0XFF,0X75,0XFF,0X74,0XFF,0X73,0XFF,0X72,0XFF,0X71,0XFF,0X70,0XFF,0X6F,0XFF,0X6E,0XFF,0X6D,0XFF,0X6C,0XFF,0X6B,0XFF,0X6A,0XFF,0X69,0XFF,0X68,0XFF,0X67,0XFF,0X66,0XFF,0X65,0XFF,0X64,0XFF,0X63,0XFF,0X62,0XFF,0X61,0XFF,0X60,0XFF,0X5F,0XFF,0X5E,0XFF,0X5D,0XFF,0X5C,0XFF,0X5B,0XFF,0X5A,0XFF,0X59,0XFF,0X58,0XFF,0X57,0XFF,0X56,0XFF,0X55,0XFF,0X54,0XFF,0X53,0XFF,0X52,0XFF,0X51,0XFF,0X50,0XFF,0X4F,0XFF,0X4E,0XFF,0X4D,0XFF,0X4C,0XFF,0X4B,0XFF,0X4A,0XFF,0X49,0XFF,0X48,0XFF,0X47,0XFF,0X46,0XFF,0X45,0XFF,0X44,0XFF,0X43,0XFF,0X42,0XFF,0X41,0XFF,0X40,0XFF,0X3F,0XFF,0X3E,0XFF,0X3D,0XFF,0X3C,0XFF,0X3B,0XFF,0X3A,0XFF,0X39,0XFF,0X38,0XFF,0X37,0X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