摘要：本设计主要设计的是多工位搬的旋转系统。本设计主要分为两部分，一部分是机械设计，一部分是控制部分。机械部分主要设计电机的选择、齿轮减速器的设计以及对选择工作平台和底座的设计。由设计要求我们知道，机械手加上负载大概有90kg，由负载我们可以将电机的转速、扭矩、输出功率，然后在松下官网通过条件筛选，可以将电机的型号给确定下来，通过松下官网我们可以找到合适的电机驱动器，由于电机的输出转速过高，我们将电机与齿轮减速器相连，降低转速，由于减速器输出轴的转向和工作选择平台的转向不再一个面上，我就用两个圆锥齿轮的啮合来改变。控制部分主要有硬件的选型以及硬件连接图，本设计选用的plc为欧姆龙公司的plc，通过高速计数器来确保选择工作平台的转速达到设计的要求。在画好流程图，确定了程序的流程之后我把程序写了出来，并且加上了人机界面，方便用户自己去了解工作平台的实时位置和速度，当然，用户也可以根据自己的需要来改变工作平台的工位。

关键词：齿轮减速器；plc；人机界面

ABSTRACT：Design is the main design of multi-station rotation system. This design is mainly pided into two parts, one part is the mechanical design, part is control part. Mechanical part of the selection of main design motor, gear reducer design, and to select the working platform and the design of the base. By design requirements as we know, manipulator with about 90 kg load, we can load motor speed, torque, power output, and then in the panasonic website through condition selection, can be motor model to decide, by panasonic website we can find the right motor drive, due to the output of the motor speed is too high, we connect the motor and gear reducer, reduce speed, because of the speed reducer output shaft steering and selection work platform is no longer a face, I will use two bevel gears meshing to change。Control part mainly include the selection of hardware as well as the hardware connection diagram, the design of PLC of omron PLC, work platform through high-speed counter to ensure that the selection of rotational speed to meet the design requirements. In draw flowcharts, determines the program I write the program out after process, and combined with the human-machine interface, easy to understand the working platform of real-time position and speed, of course, the user can also according to their own needs to change the working platform of the station.

Key words：gear reducer；plc；HMI

目录

第一章绪论 4

1.1多工位搬运机概述、课题背景、国内外发展 4

第二章总体方案设计 5

第三章机械方案设计 6

3.1转架的设计 6

3.2驱动方案设计 7

3.2.1驱动方式的确定 7

3.2.2确定齿轮减速器的效率 7

3.2.3算电动机容量 8

3.3齿轮减速器的设计 8

3.3.1计算出总传动比 8

3.3.2计算出各轴的转速、功率和转矩 9

3.4减速器高速级齿轮传动设计计算 10

3.4.1确定齿轮的参数、材料和加工精度 10

3.4.2按齿面接触疲劳强度设计 11

3.4.3确定传动尺寸 12

3.4.4计算锥齿轮传动其它几何参数 13

3.5减速器低速级齿轮传动设计计算 15

3.5.1选定齿轮类型、精度等级、材料及齿数 15

3.5.2按齿面接触疲劳强度设计 15

3.5.3确定传动尺寸 17

3.5.4计算锥齿轮传动其它几何参数 18

表3-5低速级齿轮参数 19

3.6轴的设计 19

3.6.1高速轴的设计 19

3.6.2中间轴的设计 24

3.6.3低速轴设计计算 28

3.7联轴器的选择 33

3.8低速轴上的轴承校核 34

3.9方案二： 34

3.9.1凸轮分解器的原理 35

第四章控制系统 36

4.1.控制器的选择 36

4.2传感元件选择 37

4.3伺服电机驱动器的选择 37