电机驱动夹爪装置的研究与设计 (2).docx

摘要

近年来，随着工业自动化水平的不断提高，工厂对高性能电动夹爪的需求越来越大。随着科技技术的日益发展，随之而来的是生产力的急速扩大，机械化生产逐渐替代人工生产。因其拥有着可靠性高，故障率低，长期成本较为低廉等特点。电动夹爪作为工业自动控制系统中重要的终端执行元件，对电动夹爪进行不断研究与开发是非常必要的。

本文简单的介绍了电动夹爪的相关概念，并对夹爪的各个部件的进行设计，介绍了电动夹爪技术的特点。并在分析国内外电动夹爪的研究和发展现状后，根据实际需求和设计需要，设计了一款由伺服电机驱动并通过plc控制的电动夹爪。该机械夹爪结构主要由夹爪体、夹爪臂、夹爪齿、夹爪轴和夹紧装置等组成。选取了合适的夹爪材料以及主要部件的型号，计算出了电动夹爪所需的驱动力矩和夹紧力，确定了夹爪的技术参数。绘制了电机驱动的夹爪装置工作原理图，并对电动夹爪的主要零部件进行建模，画出了机械手的装配图，并对电动夹爪进行了模拟仿真。

关键词：电机驱动，夹爪装置，电动机，传动机构

ABSTRACT

Inrecentyears,withthecontinuousimprovementofindustrialautomation,thedemandforhigh-performanceelectricgrippersinfactoriesisincreasing.Withtheincreasingdevelopmentofscienceandtechnology,followedbytherapidexpansionofproductivity,mechanizedproductiongraduallyreplacedmanualproduction.Becauseithasthecharacteristicsofhighreliability,lowfailurerateandlowlong-termcost.Asanimportantterminalactuatorintheindustrialautomaticcontrolsystem,itisverynecessarytocontinuouslyresearchanddeveloptheelectricgripper.

Thispaperbrieflyintroducestherelevantconceptsofelectricgrippers,designsthevariouscomponentsofthegrippers,andintroducesthecharacteristicsofelectricgrippertechnology.Afteranalyzingtheresearchanddevelopmentstatusofelectricgrippersathomeandabroad,accordingtotheactualneedsanddesignneeds,anelectricgripperdrivenbyservomotorandcontrolledbyPLCwasdesigned.Themechanicaljawstructureismainlycomposedofgripperbody,gripperarm,grippertooth,jawshaftandclampingdevice.Theappropriategrippermaterialandthemodelofthemaincomponentswereselected,thedrivingtorqueandclampingforcerequiredbytheelectricgripperwerecalculated,andthetechnicalparametersofthegripperweredetermined.Theworkingprinciplediagramofthemotor-drivenjawgripperdevicewasdrawn,themaincomponentsoftheelectricgripperweremodeled,theassemblydrawingofthemanipulatorwasdrawn,andtheelectricgripperwas