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机械手-木琴演奏机械手的设计-说明书摘要音乐机器人属于表演类特种机器人,其研究主要集中于国外,国内迄今未见有相关文献。
木琴演奏机械手是键盘型音乐机器人的一种,具有典型的运动机构、可选用可编程序控制器、PLC、微机等多种控制方式。
本文就木琴演奏机械手为研究对象,对于其机械部分和控制部分进行设计。
机械部分主要包括移槌装置、击槌装置和握槌机构。
其中移槌装置主要由直流伺服电动机、滚珠丝杠和滚动直线导轨副组成;击槌装置由步进电动机、减速器、机械手臂组成;握槌机构由夹具和护板组成。
控制部分由可编程控制器(PLC)控制直流伺服电动机和步进电动机来完成移槌定位和木槌击键动作。
关键词:木琴演奏机械手,移槌装置,击槌装置,可编程控制器(PLC)ABSTRACTMusic robots are special types of robots, their research focused on foreign and domestic so far there is no literature. Xylophone playing robots are one type of music keyboard robots, have typical of the sport organizations ,can use programmable logic controller, PLC, computer and other control methods In this paper, Xylophone playing robots to object of study, for the mechanical part and control part of the design. Mechanical parts mainly include the shifting hammer device, the hitting hammer device and the holding hammer device. The shifting hammer devicemainly consists of DC servo motor, Ball screw and rolling linear guides; the hitting hammer device consists of stepper motor, reducer, mechanical arm; the holding hammer device consists of clamp and retaining plateControl part by the programmable logic controller PLC control of DC servo motors and stepper motors to complete the shift position and mallet hammer keystroke action.Key words: Xylophone playing robots, shifting hammer device, hitting hammer device, programmable logic controller PLC 目录1 绪论1.1机器人的发展历史1.2音乐机器人的发展状况2 木琴演奏机械手的设计方案2.1机械部分和控制部分总体设计方案2.2拟采用的设计方案3 移槌装置的设计3.1滚珠丝杠的选型3.2移槌装置电机的确定3.3导轨的选型3.4联轴器的选用4 击槌装置的设计4.1一级减速齿轮的计算4.2轴的计算4.3轴的结构设计4.4估算击槌过程中机械手的运动范围及距离5 支架的设计5.1支架结构的设计5.2支架尺寸确定6 控制系统的设计6.1总体设计思路6.2系统中的检测元件6.3数字伺服系统的分类6.4可编程控制器PLC的选用6.5驱动器的选择6.6限位开关的选择6.7系统工作原理和I/O端口分配6.8软件设计7 结论参考文献致谢1绪论1.1机器人的发展历史机器人的历史并不算长,1959年美国英格伯格和德沃尔制造出世界上第一台工业机器人,机器人的历史才真正开始。
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WB1A定位平行联轴器特点﹡一体成型的金属弹性联轴器﹡零回转间隙﹡弹性作用补偿径向、角向、轴向偏差﹡顺时针与逆时针回转特性完全相同﹡定位螺丝或加键槽固定﹡铝合金材质﹡适用于编码器、激光机选型举例例：WB1A-25-0810WB1A：定位平行型25：外径尺寸08：d1轴径尺寸10：d2轴径尺寸注：加键槽需另外注明型号Ød1 Ød2ØD L L1 M拧紧力矩轴径(N.m)WB1A-15□□□□ 3 4 5 6 6.35 8 15.5 23 3 M3 0.7 WB1A-17□□□□ 3 4 5 6 6.35 8 17.5 23 3 M3 0.7 WB1A-19□□□□ 3 4 5 6 6.35 8 19.1 19.1 2.55 M3 0.7 WB1A-25□□□□ 5 6 6.35 8 10 25.4 25.4 3.80 M4 1.7 WB1A-28□□□□ 6 6.35 8 10 12.7 28.6 28.6 4.00 M4 1.7 WB1A-38□□□□8 10 12 12.7 14 15 38.1 38.1 5.00 M5 3.8 WB1A-42□□□□10 12 14 15 16 18 20 42.0 50.0 7.80 M6 4.5 WB1A-50□□□□12 14 15 16 18 19 20 21 24 50.0 50.0 7.80 M6 7.0型号额定扭矩(N.m)最大扭矩(N.m)最高转速(rpm)径向偏差(m m)角向偏差（。
CHECK THE LABEL FOR PART NO. IDENTIFY THE SIZE AND TYPE FROM THIS TABLE. REFER TO PARTS LISTED UNDER NOMINAL SIZE.GROOVE indicates L.H. thread.PLAIN DIA indicates R.H. thread.Nominal Size ROTARY (R.E.B.) UNION ROTARY (C.B.N.) UNIONTYPE B.E.TYPE S.T.TYPE R.S.TYPE B.E.TYPE S.T.TYPE R.S.40 (1 ½")18104181051810618101181021810350 (2")17350172381735115471154721547365 (2 ½")18131181321813318240182411824280 (3") 17265172661726315477154781547990 (3 ½")174211742217423161711617216173100 (4")174241742517426161741617516176125 (5")176341763517636154861548715488150 (6")176371763817639167041670316702GROOVE indicates L.H. thread. PLAIN DIA indicates R.H. thread.Note! For the 125 (5") and 150 (6") there is a screwed Adjusting Ring at the flanged end of the body which is locked with a screw. This is similar to components 16 and 18 for the Rotary (C.B.N.) Unions and can be adjusted to give 6mm compression on the Bellow S/A if necessary.OVERHAUL OF ROTARY (R.E.B.) UNIONSa. Remove Nuts 13 and Washers which allows the removal of Adaptor 4.b. Remove Bellows Sub-Assembly and Gasket of Seal Kit 5.c. Remove Locking Screw 7 and unscrew Locking Ring 14 (RH Thread) and extract Spindle 15 complete with Ball Bearings etc.d. Remove Locking Screws from the Rubbing Ring of Seal Kit 5 and unscrew the Rubbing Ring (RH or LH thread) and remove Gasket.e. Thoroughly clean the Ball Bearing Kit 11 and check the condition of the bearings. (If there is any doubt replace the Bearing Kit pre-packing with an approved grease.) Re-grease the bearings if re-using.f. To replace Bearing Kit 11 remove Locking Screws 8, Bearing Locking Ring 9 (RH or LH Thread)and Nilos Ring 10 then press off Bearing Kit 11.g. If Adaptor 4 is type RS remove Locking Screw 3 unscrew Locking Ring 1, (RH Thread) and remove C.T. Bush 2.h. REPLACE :- Seal Ki t 5, Bearing Kit 11 and if type RS C.T. Bush 2.i. Thoroughly clean all parts before re-assembly, which is virtually the reverse of the above.j.Handle Seal Kit carefully to avoid damaging the lapped seal faces.k. After re-assembly run-in as indicated in the Installation Instructions and Test to ensure theseals are working correctly before refitting to the machine.OVERHAUL OF ROTARY (C.B.N.) UNIONSa.Remove Bolts and Washers 20, which allows the removal of Adaptor 4.b. Remove Bellows Sub-Assembly and Gasket of Seal Kit 5 and Spacer 6. (For the 125 (5") and 150 (6") Locking Screw 18 will need removing as Spacer 16 is screwed RH Thread and should be adjusted to give 6mm compression on the Bellows Sub-Assembly during refitting).c. Remove Locking Screws from the Rubbing Ring of Seal Kit 5, through the bleed port in Body S/A 19 and unscrew the Rubbing Ring (RH or LH Thread) and remove the Gasket and Thrust Pad 17.d. Remove Spindle 21 from Body S/A 19 and check the bore of the carbon bearing in Body S/A 19 for excessive wear and the bearing surface of Spindle 21 similarly.e. If the Adaptor 4 is the type RS remove Locking Screw 3, unscrew Locking Ring 1 and remove C.T. Bush 2f. REPLACE:- Seal Kit 5, Thrust Pad 17 as a minimum.REPLACE :- Body S/A 19 and Spindle 21 depending on condition. If a type RS replace C.T. Bush 2.g. Thoroughly clean all parts before re-assembly which is virtually the reverse of the above.h. Handle Seal Kit carefully to avoid damaging the lapped seal faces.i. After re-assembly run-in as indicated in the Installation Instructions and Test to ensure theseals are working correctly before refitting to the machine.NOMINAL SIZE 123456789101112131415RETAINER C/T BEARING SCREW ADAPTOR SEAL KIT BODY SCREW SCREW LOCKING RING NILOS RING BEARING KIT STUD NUT LOCKING RING SPINDLE R.S.S.T. B.E.R.E.B. C.B.N.40 (1 ½")18103/318103/2M5 x 0.818103/118102/118101/1S.1151/3S.1151/318104/8M6 x 1.0M5 x 0.818104/418104/5S.1235/017238/4M8 x 1.25 18104/218104/350 (2")15473/115473/3M5 x 0.815473/215472/115471/1S.1171/4S.1151/417238/11M6 x 1.0M4 x 0.717238/517238/12S.1235/117238/4M8 x 1.2517238/717238/865 (2 ½")15476/318133/2M6 x 1.018133/118132/118131/16S.1171/8S.1151/818131/15M6 x 1.0M5 x 0.818131/1018131/11S.1235/518131/6M10 x 1.518131/1318131/1480 (3")15479/315479/2M6 x 1.015479/115478/115477/1S.1171/5S.1151/517263/11M6 x 1.0M5 x 0.817263/517263/16S.1235/217423/1M12 x 1.7517263/717263/890 (3 ½")16173/316173/2M6 x 1.016173/116172/116171/1S.1151/6S.1151/617423/7M5 x 0.8M5 x 0.817423/217155/15S.1235/317423/1M12 x 1.7517423/817423/9100 (4")16176/316176/2M6 x 1.016176/116175/116174/1S.1151/6S.1151/617423/7M5 x 0.8M5 x 0.817423/217155/15S.1235/317423/1M12 x 1.7517423/817426/1125 (5")15488/315488/2M8 x 1.2515488/115487/115486/1S.1151/7S.1151/717635/3M12 x 1.75M12 x 1.7517635/517635/4S.1235/417635/7M16 x 217635/217635/1150 (6")16702/116702/3M8 x 1.2516702/216703/116704/1S.1151/7S.1151/717635/3M12 x 1.75M12 x 1.7517635/517635/4S.1235/417635/7M16 x217635/217637/1445RH LHREB CBNG AS K E T B E L L O W S S /A R U BB I N G RI N G GASKET15WE MANUFACTURE MANY SPECIALS. IF YOU HAVE ANY DOUBT CONTACT USGIVING THE PART No. AND SERIAL No. FROM THE IDENTIFICATION LABEL FITTED.WE MANUFACTURE MANY SPECIALS. IF YOU HAVE ANY DOUBT CONTACT US GIVING THE PART No. AND SERIAL No. FROM THE IDENTIFICATION LABEL FITTED.PLAIN DIA indicates R.H. thread.Note! For the 125 (5") and 150 (6") spacer 16 is screwed into Bearing S/A 19 and locked with screw 18. Compression on the Bellows S/A can be adjusted using these to obtain the correct compression of 6mm.161718192021NOMINAL SIZE SPACER THRUST PAD SCREW BEARING S/A BOLT SPINDLE 18101/1018101/5N/A 18101/12M8 x 1.2518101/840 (1 ½")15325/715325/11N/A 15325/15M8 x 1.2515472/350 (2")18240/618240/2N/A 18240/7M10 x 1.518240/565 (2 ½")15478/715478/10N/A 15478/14M12 x 1.7515478/1380 (3")16172/1216172/7N/A 16172/16M12 x 1.7516172/1090 (3 ½")16172/1216172/7N/A 16172/16M12 x 1.7516175/2100 (4")16702/1316702/9M12 x 1.7516702/16M16 x 2.015487/2125 (5")16702/1316702/9M12 x 1.7516702/16M16 x 2.016702/12150 (6")ROTARY (C.B.N.) UNIONSThe Filton Bellows Seal fitted to the Rotary (C.B.N.) Union is self-adjusting within its working life.The Rotary (C.B.N.) Union has dry carbon journal and thrust bearings operating on hardened surfaces. DO NOT GREASE. We advise periodic inspection for bearing wear.HEALTH & SAFETYThe Rotary Unions shown in this leaflet should not present any hazard when correctly fitted and used. To ensure satisfactory performance, every Rotary Union is run-in and leakage tested before despatch.De-pressurise and drain the system before removing Rotary Unions for repair.It is essential to use the correct hand of rotary connection thread to ensure the Rotary Union will not unscrew (see the Installation Instructions). If a shaft reverses rotation the connection thread should be locked or preferably a flanged connection should be use.At some time the seals in the Rotary Union will leak, so inspect daily. Also, ensure that leakages are not hazardous to personnel and that the Rotary Union is removed for repair immediately. If leakages are not attended to promptly, bearing seizure may occur causing flexible hose failure and massive leakage.Fit protective guards if leakages or the rotating spindle are likely to be hazardous to personnel.For hazardous application fit an excess torque detector to stop the machine before major damage occurs to flexible hoses causing massive leakage.With oil systems minor leakages occur due to the natural characteristics of oil preventing seal faces from contacting fully. Gaskets are now non-asbestos but existing units may have gaskets manufactured from compressed asbestos fibre fitted.These should be handled and disposed of according to the Asbestos Products (Safety) Regulations 1985.HAVE BEEN LEAKAGE TESTED – DISMANTLING INVALIDATES THE WARRANTY.INSTALLATIONRun in before fitting – rotate R.E.B. at 100 r.p.m. for 30 minutes for sizes 40 (1 ½") to 80 (3") and at 50 r.p.m. for 1 hour for other sizes and C.B.N. at half the speed for twice the time. Add system liquid if the seals squeak.(A TORQUE ARRESTOR SHOULD BE FITTED BUT THIS MUST NOT RESTRICT THE NATURAL MOVEMENT OF THE ROTARY UNION)MINIMUM LENGTHS FOR FLEXIBLE HOSENom size 20 ( ¾")25 (1")32/40 (1 ¼ "/1 ½ ")50/65 (2"/2 ½ ")80 (3")100/125/150 (4"/5"/6")Length mm 305380460610760915FILTON HOSE M240/4M240/5M240/ 6 & 7M240/ 8 & 9M240/10M240/ 11,12 & 13ALUMINIUM WASHER S593(PROVIDED WITH CLOCKWISE ROTATIONFITTED WITH A CURVE TO SUIT THE DIRECTION OF ROTATION AS SHOWN (Obtainable from Filton Limited)ELBOW S.1286 Filton Limited)GROOVE INDICATESL.H. THREAD ABUTMENT FACE MUST BE SQUARETYPE ST OR RSANTI CLOCKWISEROTATION DIAMETER INDICATES R.H. THREADCENTRE TUBE FOR TYPE STFIXED TO ROTARY UNIONFOR TYPE RS FIXED TO MACHINE (not supplied by Filton Limited unlessspecified)DO NOT:-1. FIX VALVES etc., directly onto the Rotary Union.2. Connect with Rigid Pipe.3. CLAMP THE ROTARY UNION.L.H.R.H.Caswell RoadSydenham Industrial EstateRoyal Leamington Spa Warwickshire United Kingdom CV31 1QF TEL: +44 1926 423191FAX: +44 1926 450610Email:******************.uk Web: ALL TYPES ARESUPPLIED WITH R.H. OR L.H. SPINDLE THREADS。
