【IS200RAPAG1BBA GE 】

：卢工

：

IS、IC系列，型号齐全，库存充足，大量现货

随着社会生产不断进步和人们生活节奏不断加快，人们对生产效率也不断提出新要求。由于微电子技术和计算软、硬件技术的迅猛发展和现代控制理论的不断完善，使机械手技术快速发展，其中气动机械手系统由于其介质来源简便以及*、组件价格低廉、维修方便和系统安全可靠等特点，已渗透到工业领域的各个部门，在工业发展中占有重要地位。本文讲述的气动机械手有气控机械手、XY轴丝杠组、转盘机构、旋转基座等机械部分组成。主要作用是完成机械部件的搬运工作，能放置在各种不同的生产线或物流流水线中，使零件搬运、货物运输更快捷、便利。

　　一 四轴联动简易机械手的结构及动作过程

　　机械手结构如下图1所示，有气控机械手(1)、XY轴丝杠组(2)、转盘机构(3)、旋转基座(4)等组成。

　　其运动控制方式为：(1)由伺服电机驱动可旋转角度为360°的气控机械手(有光电传感器确定起始0点)；(2)由步进电机驱动丝杠组件使机械手沿X、Y轴移动(有x、y轴限位开关)；(3)可回旋360°的转盘机构能带动机械手及丝杠组自由旋转(其电气拖动部分由直流电动机、光电编码器、接近开关等组成)；(4)旋转基座主要支撑以上3部分；(5)气控机械手的张合由气压控制(充气时机械手抓紧，放气时机械手松开)。

　　其工作过程为：当货物到达时，机械手系统开始动作；步进电机控制开始向下运动，同时另一路步进电机控制横轴开始向前运动；伺服电机驱动机械手旋转到达正好抓取货物的方位处，然后充气，机械手夹住货物。

　　步进电机驱动纵轴上升，另一个步进电机驱动横轴开始向前走；转盘直流电机转动使机械手整体运动，转到货物接收处；步进电机再次驱动纵轴下降，到达位置后，气阀放气，机械手松开货物；系统回位准备下一次动作。

　　二 控制器件选型

　　为达到精确控制的目的，根据市场情况，对各种关键器件选型如下：

　　1. 步进电机及其驱动器

　　机械手纵轴(Y轴)和横轴(X轴)选用的是北京四通电机技术有限公司的42BYG250C型两相混合式步进电机，步距角为0.9°/1.8°，电流1.5A。M1是横轴电机，带动机械手机构伸、缩；M2是纵轴电机，带动机械手机构上升、下降。所选用的步进电机驱动器是SH-20403型，该驱动器采用10～40V直流供电，H桥双极恒相电流驱动，zui大3A的8种输出电流可选，zui大64细分的7种细分模式可选，输入信号光电隔离，标准单脉冲接口，有脱机保持功能，半密闭式机壳可适应更恶劣的工况环境，提供节能的自动半电流方式。驱动器内部的开关电源设计，保证了驱动器可适应较宽的电压范围，用户可根据各自情况在10～40VDC之间选择。一般来说较高的额定电源电压有利于提高电机的高速力矩，但却会加大驱动器的损耗和温升。本驱动器zui大输出电流值为3A/相(峰值)，通过驱动器面板上六位拨码开关的第5、6、7三位可组合出8种状态，对应8种输出电流，从0.9A到3A以配合不同的电机使用。本驱动器可提供整步、改善半步、4细分、8细分、16细分、32细分和64细分7种运行模式，利用驱动器面板上六位拨码开关的第1、2、3三位可组合出不同的状态。

　　2. 伺服电机及其驱动器

　　机械手的旋转动作采用松下伺服电机A系列小惯量MSMA5AZA1G，其额定输出50W、100/200V共用，旋转编码器规格为增量式(脉冲数2500p/r、分辨率10000p/r、引出线11线）；有油封，无制动器，轴采用键槽连接。该电机采用松下公司*算法，使速度频率响应提高2倍，达到500Hz ；定位超调整定时间缩短为以往松下伺服电机产品V系列的1/4。具有共振抑制功能、控制功能、全闭环控制功能，可弥补机械的刚性不足，从而实现高速定位，也可通过外接高精度的光栅尺，构成全闭环控制，进一步提高系统精度。具有常规自动增益调整和实时自动增益调整两种自动增益调整方式，还配有RS-485、RS-232C 通信口，使上位控制器可同时控制多达16个轴。伺服电机驱动器为A系列MSDA5A3A1A，适用于小惯量电动机。

　　3. 直流电机

　　可回旋360°的转盘机构有直流无刷电机带动，系统选用的是北京和时利公司生产的57BL1010H1无刷直流电机，其调速范围宽、低速力矩大、运行平稳、低噪音、效率高。无刷直流电机驱动器使用北京和时利公司生产的BL-0408驱动器，其采用24～48V直流供电，有起停及转向控制、过流、过压及堵转保护，且有故障报警输出、外部模拟量调速、制动快速停机等特点。

　　4. 旋转编码器

　　在可回旋360°的转盘机构上，安装有OMRON公司生产的E6A2增量型旋转编码器，编码器将信号传给PLC，实现转盘机构的精确定位。

　　5. PLC的选型

　　根据系统的设计要求，选用OMRON公司生产的CPM2A小型机。CPM2A在一个小巧的单元内综合有各种性能，包括同步脉冲控制、中断输入、脉冲输出、模拟量设定和时钟功能等。CPM2A的CPU单元又是一个独立单元，能处理广泛的机械控制应用问题，所以它是在设备内用作内装控制单元的理想产品。完整的通信功能保证了与个人计算机、其它OMRON PC和OMRON可编程终端的通信。这些通信能力使四轴联动简易机械手能方便的融合到工业控制系统中。

GE IS200RAPAG1BBA

LOT OF 6 GE CIRCUIT BREAKER 20A TEF113020-277VA?C (A4)

USED, I-T-E EE2-B015 Circuit Breaker 15A 125/250 VDC, 240VAC 2Pole Unit (GG3)

GOOD USED WESTINGHOUSE MOLDED CASE CIRCUIT BREAKER 20A RF3020 3 POLE (E6-1)

LOT OF 2 GE CIRCUIT BREAKER 20A AMP 1 POLE SWD RT-692 THHQB (DR1B-2)

USED* GOOD SQUARE D I-LINE MOLDED CASE CIRCUIT BREAKER MA36600 600A 600V (N6)

CUTLER HAMMER CIRCUIT BREAKER BR240 2 POLE E7S19-T (DR1B-2)

LOT OF 2 CUTLER HAMMER CIRCUIT BREAKER 15A MG-7731 CLASS CTL TYPE CHB (DR1C-1)

NNB SQUARE D LP-1127 TYPE Q0 30A SINGLE POLE CIRCUIT BREAKER 120/240VAC (BIN65)

FPE Circuit Breaker GOOD NE231020 20 AMP (CC3)

LOT OF 4 USED, Westinghouse HQP Quicklag 20Amp Circuit Breaker 1pole (W2-1)

Westinghouse 100 AMP Circuit Breaker HFD3100L (K2)

USED, General Electric TEF134090 Circuit Breaker 90Amp 3Pole 480V. AC (HH4)

USED, General Electric TE132100 Circuit Breaker 100Amp. 3Pole 240V. AC (HH4)

USED, General Electric TEB132070 Circuit Breaker 70 Amp 3 Pole 240 VAC (HH4)

WESTINGHOUSE QUICK LAG 20 AMP CIRCUIT BREAKER 2 POLE COMMON TRIP (298-1)

C16P OMRON INPUT PLC UNIT GOOD USED (NN3)

LOT OF 2 NEW IN BOX MAGNETEK TRIAD FS24-045 TRANSFORMER (BIN62)

NEW, Allen Bradley 1492-CB2H070 Ser. B Circuit Breaker 7A (WL19-2)

FEDERAL PACIFIC 20A 20 AMP 2 POLE NEF421020 480 VAC CIRCUIT BREAKER (103)

SQUARE D QMB-363-T FUSED SWITCH 100A 600VAC W/ 6 FUSES (I8)

NEW GOULD ITE MOLDED CASE CIRCUIT BREAKER EE2-B015 15 AMP 2 POLE (140)

LOT OF 3 WESTINGHOUSE CIRCUIT BREAKERS 30 AMP 1 POLE ISSUE LJ-99 BA (DR1B-2)

ALLEN BRADLEY 1746-A10 SER B SLC500 PLC RACK P2 POWER SUPPLY SER C USED (NN3)

USED, Westinghouse E-7819 Circuit Breaker 70Amp. 3Pole 125/250VDC 240VAC (HH4)

CUTLER-HAMMER WESTINGHOUSE 7 AMPS HMCP HMCP007C0C MOTOR CIRCUIT PROTECTOR (P7)

GENERAL ELECTRIC CIRCUIT BREAKER TED134040 USED (F6)

LOT OF 4 CUTLER HAMMER QUICKLAG 20A M-1259 E-7819 SWD CIRCUIT BREAKER (DR1B-2)

CUTLER HAMMER 3 POLE CIRCUIT BREAKER EHC 3060 LL-2275 60 AMPS (B1)

USED**WESTINGHO?USE TYPE "WBA" PANEL BOARD/CIRCUIT BREAKER 225A 120/208V 3PH (51)

GE TRANSFORMER NON-EXPLOSION PROOF 9T58K1806 .200KVA 1 phase 1PH (B5)

CUTLER-HAMMER WESTINGHOUSE 30 AMPS HMCP HMCP030H1C MOTOR CIRCUIT PROTECTOR (P7)

GOOD USED, General Electric TE132020 Circuit Breaker 20amp 3P 240VAC (W3)

USED, General Electric THED136150 Circuit Breaker 150 Amp. 3 Pole 600 VAC (GG3)

SLC 500 SLC500 ALLEN BRADLEY PROCESSOR UNIT SER C FRN 6 W/ 1746 P2 RACK (WL2)

CUTLER-HAMMER INDUSTRIAL CIRCUIT BREAKER FD 35K 20 AMPS 3 POLE 600V USED (LL5)

CUTLER-HAMMER WESTINGHOUSE 15 AMPS HMCP HMCP015E0C MOTOR CIRCUIT PROTECTOR (P7)

ITE CIRCUIT BREAKER K FRAME TYPE ET-8504 600 AMP (TT6)

NIB* GENERAL ELECTRIC TH3362 DISCONNECT SWITCH MODEL 10 60A 600VAC/250VDC (P1)

CUTLER-HAMMER WESTINGHOUSE HFD 65K HFD3100L 100 AMPS CIRCUIT BREAKER USED (P7)

NEW WESTINGHOUSE EHB3015L AB DEION CIRCUIT BREAKER 3 POLE 15 AMP 480AC (188)

WEBER AS168B-2 G4 POLE 20 AMP CIRCUIT BREAKER (137-1)

SQUARE D REMOTE CONTROL CIRCUIT BREAKER ISSUE SD-9803 USED (WL5-1)

CHALLENGER CIRCUIT BREAKER TYPE NEF 40 amp 3 POLE 480VAC USED NO BOX (P7)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 1149130M1351 LOT 5 USED (WL37-2)

General Electric TEB132020 Circuit Breaker 3Pole 20Amp. (GG3)

MERLIN GERIN BREAKER MULTI 3 POLE 16A TYPE C C60N (L6-1)

LOT OF 2 SQUARE D 20A LL-9353 HACR 2 POLE CIRCUIT BREAKER (DR1B-2)

NEW NO BOX Square D FAL14015 Circuit Breaker 1P 15A 277V (BIN37)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 1139230M0201 USED (WL37-1)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 114-943M2427 LOT 4 USED (WL36-2)

LOT OF 4 WESTINGHOUSE 20A 40C LN-0341 SWD 1 POLE CIRCUIT BREAKER (DR1B-2)

FEDERAL PACIFIC 20A 20 AMP CIRCUIT BREAKER NEF213020 1 POLE 277 VAC (102)

PECO METAL THICKNESS DETECTOR C3085A (2)

I-T-E ET Circuit Breaker F Frame 100 AMP 100A A (CC3)

ITE CIRCUIT BREAKER F FRAME TYPE ET 100 AMP GOOD (WW3)

USED FEDERAL PACIFIC CIRCUIT BREAKER NE113020, HL-77 120VAC 20AMP, 1 POLE (263)

WESTINGHOUSE LA3400PRF CIRCUIT BREAKER 400AMP 600VAC 3P (GG3)

NEW in box! STANCOR SW-424 PRINTED CIRCUIT TRANSFORMER 6VA (225-4)

SQUARE D FUSED SWITCH QMB-363-T 100A 600VAC W/ 5 FUSES (I8)

FPE AB Circuit Breaker NEF433020 20 AMP GOOD (CC3)

GE CIRCUIT BREAKER 15 AMP UO633 E-1192 THQL 120/240 VAC 2 POLE (DR1B-2)

USED, Federal Pacific NEF433020 Circuit Breaker 20 Amp 3 Pole 480 Volts (GG3)

NEW IN BOX ASCO RED HAT VALVE 8315D2U 120/60 110/50 1/4 (199-2)

FPE Circuit Breaker 50 AMP 3 Pole GOOD A 50A (CC3)

NEW IN BOX CUTLER HAMMER MOTOR CONTROL BUCKET 200AMP FK035483 ED3200 (45)

USED, Crouse-Hinds 30amp 2pole Circuit Breaker Type MP-T 120/240VAC (BIN28)

GOOD USED ITE SIEMENS CIRCUIT BREAKER HE43B030 480 VAC 3 POLE 30 AMP (LL3)

CUTLER-HAMMER SERIES C CIRCUIT BREAKER EHD EHD3040 40 AMPS 3 POLE USED (P7)

LOT OF 14 FEDERAL PACIFIC NI CIRCUIT BREAKERS 20 AMP 1 POLE HG-43 120/240(G5)

GOOD USED ITE SIEMENS CIRCUIT BREAKER HED43B100 480 VAC 100 AMP (LL3)

FPE 431050 3 Pole Circuit Breaker GOOD 50 AMP 50A (CC3)

ALLEN-BRADLEY 1492-CB3 SER B 3 POLE CIRCUIT BREAKER NEW NO BOX (RR5-1)

LOT OF 2 SQUARE D CIRCUIT BREAKER 30A 1 POLE LL-9146 120/240 VAC (DR1C-1)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 115 9440M1787 LOT 6 USED (WL37-2)

FPE AB Circuit Breaker NE233020 GOOD 20 AMP (CC3)

WESTINGHOUSE QUICKLAG BREAKER OPH2015H 200 VAC 2 POLE (DR1C-1)

NEW IN BOX EATON CUTLER HAMMER WMS3D40 40 AMP 3 POLE CIRCUIT BREAKER (O1-1)

LOT OF 4 FEDERAL PACIFIC 15 AMP CIRCUIT BREAKER 1 POLE NB 120/240 VAC 2W (J6-1)

GE 30 AMP CIRCUIT BREAKER 2 POLE RT-693 TYPE THQL HACR E-11592 (DR1C-1)

GOOD USED SQUARE D CIRCUIT BREAKER 8536 SA011V02 (WL14)

NEW IN BOX ALLEN BRADLEY TRANSFORMER S9185A 91854-11 238-9803 (SS1)

LOT OF 4 WESTINGHOUSE QUICK LAG 20AMP CIRCUIT BREAKER LM-5016 (298-1)

ITE CIRCUIT BREAKER K FRAME TYPE ET-6135 225 AMP (TT5)

CUTLER-HAMMER WESTINGHOUSE HFD 65K 40 AMPS 3POLE CIRCUIT BREAKER USED (P7)

LOT OF 2 GE CIRCUIT BREAKER 20 AMP RT-693 TYPE THQL 2 POLE (DR1B-2)

LOT OF 2 WEBER AS168B-3 G203 POLE 20 AMP CIRCUIT BREAKER (131-5)

GOOD USED PLC MODULE SCHNEIDER TSX QUANTUM 140 ACI 030 00 (ZZ2)

LOT OF 7 CUTLER HAMMER CIRCUIT BREAKER 15 SWD 120/240 VAC 1 POLE AL-CU (DR1B-1)

SQUARE D BREAKER BOX W/ PANELBOARD NQOD12M100CU NQC23S (21)

SQUARE D CIRCUIT BREAKER FIL36060 60A I-LIMITER (F6)

SQUARE D ENCLOSED CIRCUIT BREAKER 250A LUG TO LUG (67)

LOT OF 2 ALLEN BRADLEY 1492-GHD050F 2P CIRCUIT BREAKERS (K5-2)

GE GENERAL ELECTRIC MOLDED CASE SWITCH TKMA836Y800 800A 3 POLE 600VAC (H7)

SQUARE D 200A ENCLOSED BREAKER KAL26200102 W/ ENCLOSURE (79)

NEW SOLA HEAVY DUTY 1PH TRANSFORMER EGS HS5F10AS 10.0 KVA single phase (98)

NEW ITE SIEMENS GOULD MOLDED CASE CIRCUIT BREAKER EE3B040 40A 240V, 3P (243)

GOOD USED TRI-BREAK TB GENERAL ELECTRIC 600 AMP GE 3 POLES CIRCUIT BREAKER (KK4)

NEW IN BOX TYCO CROMPTON CURRENT TRANSFORMER 5SFT-600 60:5A (PP1-1)

GOOD USED RELIANCE DRIVE GP-2GU21001 1HP @ 0.8PF GP-2000 (249)

USED SQUARE D CIRCUIT BREAKER MHP36600MT 600 AMP (J5)

SQUARE D 70A CIRCUIT BREAKER W/ ENCLOSURE FAL340701021 (51)

LOT OF 2 WESTINGHOUSE QUICKLAG JH-73 CIRCUIT BREAKER 20 AMP 1 POLE (DR1A-2)

SQUARE D 250A AMP LAL36250 CIRCUIT BREAKER 600V GOOD USED (NN3)

SQUARE D CIRCUIT BREAKER NEW? 15A FA36015 (FF5)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 1159260M0766 LOT 6 USED (WL36-1)

NNB** GE MOTORS 5KCP39SG L413S 1/3HP 840RPM 460V 1.10A 60HZ 1PH (L6)

CUTLER-HAMMER EHD14K EHD3040L CIRCUIT BREAKER 40 AMPS 3 POLE USED (P7)

NEW IN BOX MAGNETEK LOW VOLTAGE TRANSFORMER F-112X 117V 50/60HZ 14VCT (E3-1)

USED* GOOD SQUARE D 31063-400-38 12V 60HZ/ 110V 50HZ COIL SIZE2 STARTER (N6)

USED* WESTINGHOUSE MCC BREAKER Bucket 80 AMP FDB3080L 80A 600VAC-250VDC (N6)

FEDERAL PACIFIC 20 AMP @ 25C CIRCUIT BREAKER GW-9 1 POLE NEF 212020 (K7)

NEW IN BOX WESTINGHOUSE AB DE-ION CIRCUIT BREAKER 1532373-A 1 POLE 20 A (DR1A-2)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 114-943M2427 LOT 5 USED (WL36-2)

GE GENERAL ELECTRIC NEW STYLE 225 AMP CIRCUIT BREAKER TFK 236Y225 (N4)

SQUARE D SORGEL TRANSFORMER 30 KVA 30T3H WT 250 ENCLOSURE TYPE 2 (66)

SQUARE D 400A AMP LAL36400 CIRCUIT BREAKER 600V GOOD USED (NN3)

NEW GENERAL CONTROLS ITT HYDRAMOTOR ACTUATOR & VALVE V701ECA H10A320B1 (243)

CUTLER-HAMMER WESTINGHOUSE HFD 65K 30 AMPS 3POLE CIRCUIT BREAKER USED (P7)

LOT OF 2 GE CIRCUIT BREAKER 20AMP 2 POLE E-11592 RT-693 THQL (DR1C-1)

SIEMENS SENTRON 1200A CIRCUIT BREAKER ND63F120 3 POLE (16)

GE 80 AMP CIRCUIT BREAKER 2 POLE RT-693 E-11592 (DR1C-1)

YOKOGAWA POWER MODULE PW481-01 S2 GOOD USED PLC MISSING DOOR (238)

CUTLER-HAMMER WESTINGHOUSE HFD 65K HFD3070L 70 AMPS CIRCUIT BREAKER USED (P7)

GOOD USED RED LIONS CONTROLS MODEL GEM41 INDICATOR COUNTER 12VDC (ZZ2)

NEW WESTINGHOUSE JA3150V AB DEION CIRCUIT BREAKER TYPE JA 150A 600V (156)

GOOD USED 100 AMP ITE BREAKER IN CABINET ED43B100 100 AMP 3 POLE 480 AC (307)

ALLEN BRADLEY 200 VA TRANSFORMER NEW 1497-N5/A (04)

CUTLER-HAMMER WESTINGHOUSE HFD 65K HFD3050L 50 AMPS CIRCUIT BREAKER USED (P7)

ITE SIEMENS MOLDED CASE CIRCUIT BREAKER QJ23B225 225A 240V, 3P (250)

NEW SQUARE D A1B130 CIRCUIT BREAKER 240 VAC 1 POLE 30 AMP SINGLE POLE (186-1)

CROUSE-HINDS ABB CEAG SPEC 504 SAFETY BARRIER 1139230M0201 LOT 7 USED (WL37-1)

GE 9T51B0050 Isolation Transformer 480V Pri 120/240V Sec-1 kVA 60 Hz (263)

NEW IN BOX ITE BREAKER EE3-B020 3 POLE 240 AC 125/250 DC 20 AMP FRAME E (118)

CUTLER HAMMER CIRCUIT BREAKER IN ENCLOSURE 800 AMP MC3800F 3 POLE (67)

NEW WESTINGHOUSE AB TRIP UNIT MA3800TV 457D454G28 TIME LIMIT TYPE 800AMP (154)

YOKOGAWA POWER MODULE PW481-01 S2 GOOD USED PLC (238)

GE