1、 驾驶室焊接自动转序机械手系统设计驾驶室焊接自动转序机械手系统设计 Design of Automatic Process-transfer Manipulator System in Cab Welding I 摘 要 本设计的内容是某卡车驾驶室外壳的自动转序机械手系统。此机械手的作用是作为 驾驶室外壳转序的夹持和动力装置。驾驶室工件在上个工序完成后，机械手负责夹持驾 驶室外壳，提升并旋转，并横向行走至下一个焊接加工工位再下降将驾驶室放置在焊接 工序位置以实现连续作业并减轻操作者的劳动强度。 机械手的开合时间和旋转都要求动 作迅速，工件重量较大，转动惯量较大，机械手的旋转机构和横向行走机构是
2、重点设计 的内容。 由于要求机械手快速开合。设计方案的手爪部分采用气动联动装置。由快速气缸通 过齿条-双联齿轮驱动连杆机构，连杆机构再为手爪开合提供动力。分析了连杆机构传 动角的变化情况，计算了手爪开合气缸的缸径、行程和流量。 旋转机构由气缸通过齿轮齿条机构直接驱动夹持机构。夹持机构通过推力调心滚子 轴承被支撑在旋转支板上。设计了旋转齿轮，计算了旋转气缸的缸径、行程和流量。由 于旋转部分的转动惯量较大，所以采用电磁制动器缓冲惯性力。 升降机构由电动葫芦实现；横向行走部分参照了起重机行走小车的设计。电动机驱 动车轮在工字钢踏面上通过摩擦力带动机构横向行走机构行走。 机械部分的设计主要有机构实现的
3、设计，主要零件的选择，重要部位受力分析，强 度校核。 控制部分的设计主要是电气原理图，气压原理图，PLC 外部接线图，PLC 梯形图。 关键词：转序机械手；气动驱动；关键词：转序机械手；气动驱动；PLC 控制控制 II Abstract The design is the system of automatic process-transfer manipulator in cab welding. The role of the manipulator is being a holding and powerplant device in cabs process-transfer. Aft
4、er the finishing of previous process of cabs manufacturing, manipulator holds the cab, lifts and rotates it(90 degree), then the manipulator walks transversely to next station-welding station, finally the manipulator falls down to put the cab on the welding station. It ensures the continuity of the
5、whole process and reduces the labor intensity of operators. The rotate mechanism and the brake mechanism is the key part of the design. As it requires prompt action in holding and rotating movement, The design proposal of holding part is that pneumatic cylinder drives the link mechanism through rack
6、-duplicate gear mechanism, then the link mechanism provides power for paws. Analyses the change of Transmission-Angle in linkage mechanism. Calculates cylinder diameter, stroke and flow of paw-air cylinder. The rotating part is that the gear-rack mechanism drives the holding part through pneumatic cylinder to execute the rotating movement. The holding part is supported by Self-aligning thrust roller bearings. Designs the rotating-gear, calculates cylinder diameter, stroke and flow of rota
