血液检测组件上料机械手设计  

Design on Feeding Manipulator of Blood Test Components

作　　者：杜慧林 高志彬[1] 刘志红[1] DU Huilin;GAO Zhibin;LIU Zhihong(Institute of Machinery and Vehicles,Qingdao University of Technology,Qingdao 266520,Chin)

机构地区：[1]青岛理工大学机械与汽车学院,山东青岛266520

出　　处：《厦门理工学院学报》2018年第3期15-19,共5页Journal of Xiamen University of Technology

基　　金：国家自然科学基金项目(61401245);山东省重点研发项目(2016GNC112013)

摘　　要：针对血液检测组件自动化装配存在的缺陷,以系统上料作业与传动方式的结构特点为基础,利用步进电机、气压驱动、点位程序控制完成了上料机械手的设计,其中包括机械手的回转运动、伸缩运动、升降运动和工件夹紧运动。根据机械手的控制需求和受载情况分别选定了型号为TN25X200伸缩气缸,MAL25X160升降气缸,SDA25X10夹紧气缸,以此实现机械手的伸缩、升降和工件夹紧运动;回转运动通过型号为103-771-2241的两相混合式步进电机与回转轴借助51102的推力球轴承连接实现。仿真结果表明,机械手水平与竖直方向的速度随时间的变化关系为梯形关系即先加速然后保持匀速,最后减速,证明了三自由度机械手设计方案的正确性和合理性。Aiming at reducing the defects in the automatic assembly of blood test components,a feeding manipulator with rotary motion,contractions,lift and workpiece clamping movement was designed based on the structural characteristics of feeding and transmission mode of the system,and using stepper motor,pneumatic drive,and point program control.According to the control requirement and load condition of the manipulator,TN25 X200 expansion cylinder,MAL25 X160 lifting cylinder and SDA25 X10 clamping cylinder were selected to realize its expansion,lifting and clamping movement,and a Type-103-771-2241 two-phase hybrid stepper motor with a rotary shaft was connected to a Type-51102 thrust ball bearing to achieve its rotary motion.The simulation results show that the horizontal and vertical velocity of the manipulator accelerates first,maintain uniform speed next,and decelerates finally presenting a trapezoidal shape,which proves the effectiveness of the design of the manipulator having three degrees of freedom.

关 键 词：自动化装配系统 上料机械手 血液检测组件 气压传动 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]