一种数控生产线上下料桁架机械手系统设计

Design of Truss Mechanical Hand of Feeding and Blanking for CNC Production Line

为实现数控生产线的自动化生产,考虑抓取工件的特点及制造成本,设计了一种多轴轻型、带工业机械手扩展轴的,可用于数控生产线自动上下料的桁架机械手。以三菱FX2N-64MRPLC为主控制系统,引入闭环数字伺服控制技术,实现对行走桁架的自动、准确和快速定位。采用正泰亚德客型气动系统实时导引机械手完成上下料动作。对系统的整体设计、布局及工作原理进行说明,着重阐述控制回路与控制系统的设计及实现方法。

In view of the cost of production as well as the characteristics of robot workpiece grabbing,a lightduty multiaxial truss mechanical hand with extensible shaft was designed for automatic feeding and blanking in order to realize the automated CNC production. With Mitsubishi FX2 N-64 MRPLC as the master control system and introduced closed-loop digital servo control technology,the moving truss could be positioned automatically,precisely and rapidly. Chint AirTAC pneumatic system was used to steer the mechanical hand in real time to the completion of feeding and blanking. The overall design,layout and operating principle were explained. The design and the implementation of the control loop and control system were emphatically illustrated.