機械電子課程設計題目：數控平臺設計班級：姓名： 學號：指導老師：

目錄機械系統設計任務總體方案導軌的選用絲杠的選用軸承的選用電機的選型減速器的設計電氣系統 設計任務 驅動電路設計 控制器的選用 人機接口 軟件設計 文件設計參考文獻附錄

機械系統一、設計任務機電傳動單向數控平臺設計電機驅動方式：步進電機、直流伺服電機、交流伺服電機；機械傳動方式：螺旋絲杠、滾珠絲杠、同步皮帶、鏈傳動等；電氣控制方式：單片微機控制、PLC控制；功能控制要求：速度控制、位置控制；主要設計參數：單向工作行程——1800、1500、1200mm；移動負載質量——100、50kg；負載移動阻力——100、50N；（估算值）移動速度控制——0～3、0～6m/min或實現行程（位置）控制，控制精度±0.01mm,±0.1mm設計選擇為：步進電機、滾珠絲杠、單片機控制、速度控制，1200mm、100Kg、50N、0~6m/min，控制精度0.01mm。二、總體方案滾動導軌的特點在相配的兩導軌之間，放置滾珠、滾柱或滾針等滾動體，使導軌運動為滾動摩擦，就成滾動導軌。滾動導軌的優點：摩擦系數小，動、靜摩擦系數差別小，低速運動時不易出現“爬行”現象；運動靈敏輕便，所需功率小；移動精度和定位精度高；鋼制淬硬導軌具有極高的耐磨性，精度保持性好；對溫度變化的敏惑性較低；潤滑簡單，維修方便；高速運動時不會像滑動導軌那樣因動壓效應而使動導軌浮起。滾珠絲桿是將回轉運動轉化為直線運動，或將直線運動轉化為回轉運動的理想的產品。滾珠絲桿由螺桿、螺母和滾珠組成。它的功能是將旋轉運動轉化成直線運動，這是滾珠螺絲的進一步延伸和發展，這項發展的重要意義就是將軸承從滾動動作變成滑動動作。由于具有很小的摩擦阻力，滾珠絲杠被廣泛應用于各種工業設備和精密儀器。步進電機是將電脈沖信號轉變為角位移或線位移的開環控制元步進電機件。在非超載的情況下，電機的轉速、停止的位置只取決于脈沖信號的頻率和脈沖數，而不受負載變化的影響，當步進驅動器接收到一個脈沖信號，它就驅動步進電機按設定的方向轉動一個固定的角度，稱為“步距角”，它的旋轉是以固定的角度一步一步運行的。可以通過控制脈沖個數來控制角位移量，從而達到準確定位的目的；同時可以通過控制脈沖頻率來控制電機轉動的速度和加速度，從而達到調速的目的。機械傳動系統的方案初選為滾動導軌、滾珠絲桿、步進電機。三、滾動導軌滾動導軌的特點摩擦系數小（0.003~0.005）動、靜摩擦系數基本相同，因而啟動阻力小，且不易發生爬行可以預緊，剛度高；壽命長；精度高，定位精度可達0.1~0.2μm，重復精度可達0.2μm由專業廠生產，可以外購選用；抗振和抗沖擊能力差，對灰塵屑末較敏感。對滾動導軌的基本要求導向精度導向精度是指移動部件沿導軌運動時，在空載與負載情況下，都應保證移動軌的直線性及位置的精確性。各種機床對導軌副本身的平面度、垂直度及等高、等距都胡標準規定。耐磨性導軌副應在預定使用期限內，保持其導向精度，因此導軌副應具有足夠的耐磨性。剛度導軌副應有較高的剛度。因此應選用合適的導軌類型、尺寸及其組合。選用可調整間隙和預緊的導軌副可以提高剛度。工藝性導軌副要便于裝配、調整、測量、防塵、潤滑和維修保養。滾動導軌的分類 滾動導軌分為滾動體循環和滾動體不循環兩種。其中滾動體不循環分為滾珠導軌副、滾釷導軌副、圓柱滾子導軌副，滾動體循環分為直線滾動導軌副、滾子導軌塊滾動花鍵副、直線運動球軸承及其支承、滾動導軌塊。直線滾動導軌副 上圖a,b所示直線導軌副滾動導軌副，是由一根長導軌軸和滑塊組成，滑塊數根據需要確定，滑塊內有四組滾珠，滾珠1與2，3與4，5與6，7與8各為一組，其中負載滾珠為2、3、6、7，回珠為1、4、5、8。隨著滑塊（或導軌軸）的移動，滾珠就周而復始進行滾動。滾珠的承載方式與角接觸球軸承相似，一只滑塊相當于4個直線運動的角接觸軸承。導軌副的安裝位置可以水平安裝，也可以垂直或傾斜安裝；可以兩根或多根導軌并列平行安裝，也可以兩根或多根短導軌軸串連接長成長導軌軸。直線滾動導軌副的選擇根據長度需求暫選直線滾動導軌副GGA40參數如下dBBBBWMMtHAT408560604022.5M10M5×1012753215KLLLHld×D×hGFCC601056022.544.522.59×14×12M8×110517.8kN19.5kN直線運動滾動支承的摩擦力計算計算項目計算過程計算結果負荷PP=mg=100×10=1000N1000N摩擦力FF式中：μ——摩動摩擦系數，μ=0.003~0.005； P——法向載荷(N)； f——密封阻力(N)，每個滑座取f=5(N)； 當P/C0a>0.1時，μ=0.003~0.005；當0.05<P/C0a<0.1時，取μ=0.0130N四、滾珠絲杠滾珠絲杠副的特點傳動效率高，滾珠絲杠的傳動效率高達95%~98%。運動平穩滾珠絲杠副在工作過程中摩擦阻力小，靈敏度高，而且摩擦系數幾乎與運動速度無關，啟動摩擦力矩與運動時的摩擦力矩的差別很小。所以滾珠絲杠副運動幾乎與運動速度無關，啟動摩擦力矩與運動時的摩擦力的差別很小。所以滾珠絲杠副運動平穩，啟動時無顫動，低速時無爬行。傳動可逆性與滑動絲杠副相比，滾動絲杠副突出的特點是具有運動的可逆性。可以預緊通過對螺母施加預緊力能消除滾珠絲杠副的間隙，提高軸向接觸剛度，但摩擦力矩卻增加不大。定位精度和重復定位精度高由于滾珠絲杠副具有傳動效率高、運動平穩、可以預緊等特點，所以滾珠絲杠副在工作過程中溫升較小，無爬行。并可以消除軸向間隙和對絲杠進行預拉伸以補償熱膨脹，能獲得較高的定位精度和重復定位精度。同步性好用幾套相同的滾珠絲杠副同時驅動相同的部件或裝置時，由于反應靈敏，無阻滯，無滑移，其啟動的同時性、運行中的速度和位移等，都具有準確的一致性，這就是所謂同步性好。使用壽命長滾珠絲杠和螺母的材料均為合金鋼，螺紋滾道經過熱處理，并淬硬到HRC58~62，經磨削達到所需的精度和表面粗糙度。實踐證明，滾珠絲杠副的使用壽命比普通滑動絲杠副高5~6倍。使用可靠，潤滑簡單，維修方便與液壓傳動相比，滾動絲杠副在正常使用條件下故障率低，維修保養也極為方便；通常只需進行一般的潤滑與防塵。在特殊使用場合，如核反應堆中的滾珠絲杠副，可在無潤滑狀態下正常工作。滾珠絲杠副的分類 滾珠絲杠副的類型可以從螺紋滾道的截面形狀、滾珠的循環方式和消除軸向間隙的調整方法進行區別。從滾道型面分為單圓弧形和雙圓弧形。從滾珠的循環方式分為內循環和外循環。滾珠絲杠副的選型計算項目計算過程計算結果當量負荷F30N當量轉速n500r/min絲杠導程P10mm動負荷C壽命系數壽命轉速系數其中綜合系數f溫度系數溫度125150175200225250300f0.950.900.850.800.750.700.6硬度系數硬度585552.55047.54540f1.01.111.351.561.922.43.85精度系數精度1、2、34、5710f1.00.90.80.7負荷性質系數負荷性質無沖擊平穩運轉一般運轉有沖擊和振動運動f1~1.21.2~1.51.5~2.5可靠性系數可靠度（%）909596979899f1.00.620.530.440.330.21700.980N絲杠選型選用FFZD3210型內循環浮動返向器雙螺母墊片預緊滾動滾動絲杠副，型號FFZD3210，額定動負荷Ca=32kNdPDddDDDBC32107.14430≤245390711532kNDDhDMTELLC915942M6668015070kN符合要求絲杠螺紋部分長度l=1200+150+2×40=14301430支承距離支承距離l應大于l1800臨界轉速校核n絲杠底徑d長度計算L支撐方式系數f合格壓桿穩定校核兩端固定支承，絲杠不受壓縮，因而不必校核穩定性預拉力FE鋼鐵彈模量11×溫升伸長量δ3476N軸承選擇采用E型和F型軸端，軸承號為7602020TVP，d=20mm,D=47mm,B=14mm,Z=15,Dw=5.593mm,Ca=19600N,F0=2300N軸承的最大軸向載荷為F由于F0合格軸承壽命校核C=合格絲杠在載荷下彈性位移δ=絲杠與螺母接觸變形δFFZD32滾珠絲杠的接觸剛度K軸承的接觸變形δK=23.6×絲杠總位移量δ=五、步進電動機步進電機的特點步進電機是一種將電脈沖信號轉換成機械角位移（或線位移）的執行元件。只要控制輸入脈沖的數量、頻率和電動機繞組的通電順序，便可獲得所需的轉角、速度以及轉動方向，而不受負載變化的影響，所以很容易用微機控制。當無脈沖輸入時，在繞組電流的激勵下，步進電動機可以鎖相。步距值不受各種干擾因素（如電壓的波動、電流的數值和波形、溫度的變化等）的影響，只要在它們的大小未引起步進電動機產生“丟步”現象之前，就不影響其正常工作。步進電動機的步距角有誤差，轉子轉過一定的步數，也會有一定的累積誤差，但是每轉一圈的累積誤差為零，所以步距誤差不長期積累。控制性能好，轉子轉動慣量小、動態響應快、易于啟停、正反轉和變速控制。低速時轉矩大、速度控制比較簡單、外形尺寸小，所以廣泛應用于打印機、繪圖機、復印機等機電一體化產品及各類機床、切割機、輕工、包裝、醫療器械、機器人等自動控制設備中。步進電動機的類型 步進電動機按其工作原理可分為反應式（VR）、永磁式（PM）和混合式（HB）三種主要類型，其相數有二相、三相、四相、五相、六相、等多種選擇。計算項目計算過程計算結果脈沖當量δ=0.010.01步距角θ=0.36絲杠轉動慣量絲杠的轉動慣量J=絲杠的質量m=ρV=0.001723×7.58×絲杠的體積V=π絲杠的密度ρ=7.58×0.001085kg平臺的慣量折算J聯軸器的轉動慣量聯軸器的類型暫選為凸緣聯軸器YL1，質量0.94kg，轉動慣量0.00180.0018kg折算到電機軸上的負載轉動慣量J0.003138kg折算到電機軸上的負載轉矩T電動機的加速轉矩TJMta電機上的最大負載轉矩T電機的選擇取安全系數K=2，則必需轉矩：T初選電機型號為90BYG550B-0301轉動慣量J則有TTM電機頻率驗算f=從圖上可以看出，此速度時的電動機的輸出最大轉矩大于T合格

控制系統數控平臺數控平臺限位開關單片限位開關單片機屏幕輸出鍵盤輸入步進電機放大電路步進電機放大電路二、單片機控制器單片機是一種集成電路芯片，是采用超大規模集成電路技術把具有數據處理能力的中央處理器CPU隨機存儲器RAM、只讀存儲器ROM、多種I/O口和中斷系統、定時器/計時器等功能（可能還包括顯示驅動電路、脈寬調制電路、模擬多路轉換器、A/D轉換器等電路）集成到一塊硅片上構成的一個小而完善的微型計算機系統，在工業控制領域的廣泛應用。從上世紀80年代，由當時的4位、8位單片機，發展到現在的32位300M的高速單片機單片機分類 單片機作為計算機發展的一個重要分支領域，根據目前發展情況，從不同角度單片機大致可以分為通用型/專用型、總線型/非總線型及工控型/家電型。（1）通用型/專用型這是按單片機適用范圍來區分的。例如，80C51是通用型單片機，它不是為某種專用途設計的；專用型單片機是針對一類產品甚至某一個產品設計生產的，例如為了滿足電子體溫計的要求，在片內集成ADC接口等功能的溫度測量控制電路。（2）總線型/非總線型這是按單片機是否提供并行總線來區分的。總線型單片機普遍設置有并行地址總線、數據總線、控制總線，這些引腳用以擴展并行外圍器件都可通過串行口與單片機連接，另外，許多單片機已把所需要的外圍器件及外設接口集成一片內，因此在許多情況下可以不要并行擴展總線，大大減省封裝成本和芯片體積，這類單片機稱為非總線型單片機。（3）控制型/家電型這是按照單片機大致應用的領域進行區分的。一般而言，工控型尋址范圍大，運算能力強；用于家電的單片機多為專用型，通常是小封裝、低價格，外圍器件和外設接口集成度高。顯然，上述分類并不是惟一的和嚴格的。例如，80C51類單片機既是通用型又是總線型，還可以作工控用。單片機的選擇89C51是一種帶4K字節閃爍可編程可擦除只讀存儲器（FPEROM—FalshProgrammableandErasableReadOnlyMemory）的低電壓、高性能CMOS8位微處理器，俗稱單片機。單片機的可擦除只讀存儲器可以反復擦除100次。該器件采用ATMEL高密度非易失存儲器制造技術制造，與工業標準的MCS-51指令集和輸出管腳相兼容。由于將多功能8位CPU和閃爍存儲器組合在單個芯片中，ATMEL的89C51是一種高效微控制器，89C2051是它的一種精簡版本。89C單片機為很多嵌入式控制系統提供了一種靈活性高且價廉的方案。三、人機接口的設計本次電氣設計中，根據對平臺速度控制的設計，分為五個速度檔，速度依次為1m/min，2m/min，3m/min，4m/min，5m/min分別由五個按鍵構成，同時由一個七段譯碼管組成，一個輸入端與一個輸出端，構成一個簡單的人機接口。四、程序設計開始開始外部中斷初始化外部中斷初始化電機是否處于啟動狀態電機是否處于啟動狀態定時器是否處于終值定時器是否處于終值顯示屏幕清零顯示屏幕清零屏幕顯示當前速度定時器開啟定時器屏幕顯示當前速度定時器開啟定時器設終值終止終止參考文獻（1）《現代機械設計手冊第5卷》，化學工業出版社，秦大同、謝里陽主編（2）《機械設計課程上機與設計》，東南大學出版社，程志紅、唐大放主編（3）《單片機原理與應用及C51程序設計》第2版，清華大學出版社，謝維成、楊加國主編（4）《單片機原理及接口技術》第3版，北京航空航天大學出版社，李朝青主編（5）《畫法幾何及機械制圖》，中國礦業大學出版社，李愛軍、陳國平主編（6）《AutoCAD2008使用教程》機械工業出版社，孫海波、姚新港附錄/*--------------------------------------------------------------------------REG51.HHeaderfileforgeneric80C51and80C31microcontroller.Copyright(c)1988-2002KeilElektronikGmbHandKeilSoftware,Inc.Allrightsreserved.--------------------------------------------------------------------------*/#ifndef__REG51_H__#define__REG51_H__/*BYTERegister*/sfrP0=0x80;sfrP1=0x90;sfrP2=0xA0;sfrP3=0xB0;sfrPSW=0xD0;sfrACC=0xE0;sfrB=0xF0;sfrSP=0x81;sfrDPL=0x82;sfrDPH=0x83;sfrPCON=0x87;sfrTCON=0x88;sfrTMOD=0x89;sfrTL0=0x8A;sfrTL1=0x8B;sfrTH0=0x8C;sfrTH1=0x8D;sfrIE=0xA8;sfrIP=0xB8;sfrSCON=0x98;sfrSBUF=0x99;/*BITRegister*//*PSW*/sbitCY=0xD7;sbitAC=0xD6;sbitF0=0xD5;sbitRS1=0xD4;sbitRS0=0xD3;sbitOV=0xD2;sbitP=0xD0;/*TCON*/sbitTF1=0x8F;sbitTR1=0x8E;sbitTF0=0x8D;sbitTR0=0x8C;sbitIE1=0x8B;sbitIT1=0x8A;sbitIE0=0x89;sbitIT0=0x88;/*IE*/sbitEA=0xAF;sbitES=0xAC;sbitET1=0xAB;sbitEX1=0xAA;sbitET0=0xA9;sbitEX0=0xA8;/*IP*/sbitPS=0xBC;sbitPT1=0xBB;sbitPX1=0xBA;sbitPT0=0xB9;sbitPX0=0xB8;/*P3*/sbitRD=0xB7;sbitWR=0xB6;sbitT1=0xB5;sbitT0=0xB4;sbitINT1=0xB3;sbitINT0=0xB2;sbitTXD=0xB1;sbitRXD=0xB0;/*SCON*/sbitSM0=0x9F;sbitSM1=0x9E;sbitSM2=0x9D;sbitREN=0x9C;sbitTB8=0x9B;sbitRB8=0x9A;sbitTI=0x99;sbitRI=0x98;#endif#include<reg51.h>sbitP0_0=P0^0;sbitP0_1=P0^1;sbitP0_2=P0^2;sbitP0_3=P0^3;sbitP0_4=P0^4;sbitP0_5=P0^5;sbitP0_6=P0^6;sbitP0_7=P0^7;sbitP1_0=P1^0;sbitP1_1=P1^1;sbitP1_2=P1^2;sbitP1_3=P1^3;sbitP1_4=P1^4;sbitP1_5=P1^5;sbitP1_6=P1^6;sbitP1_7=P1^7;sbitP2_0=P2^0;sbitP2_1=P2^1;sbitP2_2=P2^2;sbitP2_3=P2^3;sbitP2_4=P2^4;sbitP2_5=P2^5;sbitP2_6=P2^6;sbitP2_7=P2^7;sbitP3_0=P3^0;sbitP3_1=P3^1;sbitP3_2=P3^2;sbitP3_3=P3^3;sbitP3_4=P3^4;sbitP3_5=P3^5;sbitP3_6=P3^6;sbitP3_7=P3^7;unsignedcharidatastep=0;unsignedcharidatacount=0;unsignedcharidataspeed=0;intnow=0;intend=0;unsignedcharcodelevel[1202]={0XFF,0XFF,0XFF,0XFE,0XFF,0XFD,0XFF,0XFC,0XFF,0XFB,0XFF,0XFA,0XFF,0XF9,0XFF,0XF8,0XFF,0XF7,0XFF,0XF6,0XFF,0XF5,0XFF,0XF4,0XFF,0XF3,0XFF,0XF2,0XFF,0XF1,0XFF,0XF0,0XFF,0XEF,0XFF,0XEE,0XFF,0XED,0XFF,0XEC,0XFF,0XEB,0XFF,0XEA,0XFF,0XE9,0XFF,0XE8,0XFF,0XE7,0XFF,0XE6,0XFF,0XE5,0XFF,0XE4,0XFF,0XE3,0XFF,0XE2,0XFF,0XE1,0XFF,0XE0,0XFF,0XDF,0XFF,0XDE,0XFF,0XDD,0XFF,0XDC,0XFF,0XDB,0XFF,0XDA,0XFF,0XD9,0XFF,0XD8,0XFF,0XD7,0XFF,0XD6,0XFF,0XD5,0XFF,0XD4,0XFF,0XD3,0XFF,0XD2,0XFF,0XD1,0XFF,0XD0,0XFF,0XCF,0XFF,0XCE,0XFF,0XCD,0XFF,0XCC,0XFF,0XCB,0XFF,0XCA,0XFF,0XC9,0XFF,0XC8,0XFF,0XC7,0XFF,0XC6,0XFF,0XC5,0XFF,0XC4,0XFF,0XC3,0XFF,0XC2,0XFF,0XC1,0XFF,0XC0,0XFF,0XBF,0XFF,0XBE,0XFF,0XBD,0XFF,0XBC,0XFF,0XBB,0XFF,0XBA,0XFF,0XB9,0XFF,0XB8,0XFF,0XB7,0XFF,0XB6,0XFF,0XB5,0XFF,0XB4,0XFF,0XB3,0XFF,0XB2,0XFF,0XB1,0XFF,0XB0,0XFF,0XAF,0XFF,0XAE,0XFF,0XAD,0XFF,0XAC,0XFF,0XAB,0XFF,0XAA,0XFF,0XA9,0XFF,0XA8,0XFF,0XA7,0XFF,0XA6,0XFF,0XA5,0XFF,0XA4,0XFF,0XA3,0XFF,0XA2,0XFF,0XA1,0XFF,0XA0,0XFF,0X9F,0XFF,0X9E,0XFF,0X9D,0XFF,0X9C,0XFF,0X9B,0XFF,0X9A,0XFF,0X99,0XFF,0X98,0XFF,0X97,0XFF,0X96,0XFF,0X95,0XFF,0X94,0XFF,0X93,0XFF,0X92,0XFF,0X91,0XFF,0X90,0XFF,0X8F,0XFF,0X8E,0XFF,0X8D,0XFF,0X8C,0XFF,0X8B,0XFF,0X8A,0XFF,0X89,0XFF,0X88,0XFF,0X87,0XFF,0X86,0XFF,0X85,0XFF,0X84,0XFF,0X83,0XFF,0X82,0XFF,0X81,0XFF,0X80,0XFF,0X7F,0XFF,0X7E,0XFF,0X7D,0XFF,0X7C,0XFF,0X7B,0XFF,0X7A,0XFF,0X79,0XFF,0X78,0XFF,0X77,0XFF,0X76,0XFF,0X75,0XFF,0X74,0XFF,0X73,0XFF,0X72,0XFF,0X71,0XFF,0X70,0XFF,0X6F,0XFF,0X6E,0XFF,0X6D,0XFF,0X6C,0XFF,0X6B,0XFF,0X6A,0XFF,0X69,0XFF,0X68,0XFF,0X67,0XFF,0X66,0XFF,0X65,0XFF,0X64,0XFF,0X63,0XFF,0X62,0XFF,0X61,0XFF,0X60,0XFF,0X5F,0XFF,0X5E,0XFF,0X5D,0XFF,0X5C,0XFF,0X5B,0XFF,0X5A,0XFF,0X59,0XFF,0X58,0XFF,0X57,0XFF,0X56,0XFF,0X55,0XFF,0X54,0XFF,0X53,0XFF,0X52,0XFF,0X51,0XFF,0X50,0XFF,0X4F,0XFF,0X4E,0XFF,0X4D,0XFF,0X4C,0XFF,0X4B,0XFF,0X4A,0XFF,0X49,0XFF,0X48,0XFF,0X47,0XFF,0X46,0XFF,0X45,0XFF,0X44,0XFF,0X43,0XFF,0X42,0XFF,0X41,0XFF,0X40,0XFF,0X3F,0XFF,0X3E,0XFF,0X3D,0XFF,0X3C,0XFF,0X3B,0XFF,0X3A,0XFF,0X39,0XFF,0X38,0XFF,0X37,0X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