011809103011-安家红-基于PLC的气动机械手的设计

重庆科技学院高等教育自学考试本科毕业论文基于PLC的气动机械手的设计考生姓名：安家红准考证号：011809103011专业层次：本科院（系）：机械与动力工程学院指导教师：王兴平职称：讲师重庆科技学院二O一二年二月十五日重庆科技学院高等教育自学考试本科毕业论文基于PLC的气动机械手的设计考生姓名：安家红准考证号：011809103011专业层次：本科指导教师：王兴平院（系）：机械与动力工程学院重庆科技学院二O一二年二月十五日重庆科技学院高等教育自学考试本科毕业论文中文摘要I摘要伴随着机电一体化在各个领域的应用，机械设备的自动控制成分显得越来越重要，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危机生命。因此机械手就在这样诞生了,机械手是工业机器人系统中传统的任务执行机构，是机器人的关键部件之一。其中的工业机械手是近代自动控制领域中出现的一项新技术，它的发展是由于其积极作用正日益为人们所认识：它能部分地代替人工操作；能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；能制作必要的机具进行焊接和装配从而大大改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。本设计采用三菱Q系列PLC作为控制机对工业机械手进行控制及监控。关键词：可编程控制器PLC;机械手;气动重庆科技学院高等教育自学考试本科毕业论文英文摘要IIBasedonthedesignofmanipulatorofpneumaticPLCABSTRACTFollowstheintegrationofmachineryineachdomainapplication,themechanicaldeviceautomaticcontrolingredientisappearingmoreandmoreimportantly,industrymanipulatorisanewtechnologywhichinthemodernautomaticcontroldomainappears,itsdevelopmentisbecauseitspositiverolewasknowingdaybydayforthepeople:Itcanthepartialzonesforthemanualcontrol;Candefertotheproductioncrafttherequest,followsthecertainprocedure,thetimeandthepositioncompletestheworkpiecethetransmissionandloadingandunloading;Canmanufacturetheessentialmachinesandtoolstocarryontheweldingandtheassemblythusgreatlyimprovesworker'sworkcondition,remarkablyenhancesthelaborproductivity,speedsuprealizestheindustrialproductionmechanizationandtheautomatedstep.ThisdesignusesgrindstheoverseasChineselaborerindustrycontrolcomputertotakeonthepositionmachine,QPLCcarriesonthemonitoringandtheperformancedataasthelowerpositionmachinetofreedomindustriesmanipulatorfilesaway.Keywords：programmablecontrollerPLC;Manipulator;pneumatic重庆科技学院高等教育自学考试本科毕业论文目录III目录中文摘要···············································································································I英文摘要·············································································································II1绪论················································································································11.1气动机械手概述·································································································11.2机械手的组成和分类···························································································11.2.1机械手的组成·······························································································11.2.2机械手的分类·······························································································31.3国内外发展状况·································································································51.4课题的提出及主要任务························································································61.4.1课题的提出··································································································61.4.2课题的主要任务····························································································72机械手的设计方案························································································82.1机械手的坐标型式与自由度··················································································82.2机械手的手部结构方案设计··················································································92.3机械手的手腕结构方案设计··················································································92.4机械手的手臂结构方案设计··················································································92.5机械手的驱动方案设计························································································92.6机械手的控制方案设计······················································································102.7机械手的主要参数····························································································102.8机械手的技术参数列表······················································································102.9前法兰式气缸的简介·························································································113手臂伸缩、回转气缸的结构设计与校核··················································123.1手臂伸缩气缸的尺寸设计与校核··········································································123.1.1平衡装置··································································································133.2手腕回转气缸的尺寸设计与校核··········································································133.2.1尺寸设计··································································································133.2.2尺寸校核··································································································144气动系统设计·································································································154．1气压传动系统工作原理图·················································································155机械手的PLC控制设计···············································································175.1可编程序控器的简介·························································································175.2PLC的结构，种类和分类····················································································175.3FX2N系列三菱PLC特点························································