机械手控制电路

学院机电学院专业电气自动化技术班级20140302班姓名孔豪学号201403023226指导教师倪涛II学业作品任务书学生姓名：孔豪专业：电气自动化班级：201402班学号：201403023226指导教师：倪涛学业作品题目：机械手控制电路学业作品主要内容：(1)机械手的控制电路的原理(2)机械手控制的PLC的程序的编程(3)机械手控制的液压系统的选择以及设计(4)机械手的CAD制图，以及装配图要求完成的主要内容：本次设计的液压传动机械手根据规矩的动作顺序，综合运用所学的基本理论，统图，PLC控制图，机械手的机械机构采用油缸，螺杆导向管等机械件组成；在液压传动机构中机械手的手臂伸缩采用伸缩油缸，手腕回转采用回转油缸，立柱的传动采用齿条传动，机械手的升降采用升降油缸立柱的横移采用横向移动油缸；在PLC控制回路中采用FX2N，当按下连续启动后，PLC按制定的程序，通过控制电磁阀的开关来控制机械手惊醒相应的动作循环，当按下连续停止后机械手在完成一个循环动作后停止。指导教师签名：专业负责人签名：III黄冈职业技术学院机电学院学业作品开题报告课题名称:机械手控制电路学院机电学院专业电气自动化班级201402班姓名孔豪学号201403023226指导教师倪涛IV毕业设计说明书题目：机械手控制电路学院：黄冈职业技术学院专业：电气自动化学号：201403023226姓名：孔豪指导教师：倪涛完成日期：2016年12月27日5ThedesignofthehydraulicmanipulatorAbstract:Thedesignofhydraulicdrivemanipulatormovementsundertheprovisionsoftheorderusethebasictheory,basicknowledgeandrelatedmechanicaldesignexpertisecomprehensivelytocompletethedesignanddrawingthenecessaryassembly,hydraulicsystemmapPLCcontrolsystemdiagramManipulatormechanicalstructureusingtanksscrew,guidetubesandothermechanicaldevicecomponentInthehydraulicdrivebodiesmanipulatorarmstretchingusingtelescopictankrotatingcolumnoftanksusedrackmanipulatormovementsusingtankmovementsthecolumntakesthehorizontalmovementoftanksThePLCcontrolcircuitusethetypeofFX2NPLCWhenpressedforcommencementPLCinaccordancewiththeprescribedproceduresthroughthecontrolofthesolenoidvalvetocontroltheswitchmanipulatorcorrespondingmovescycle，afterpresstherowstopbutton,themanipulatorcompleteacycleofactiontostopaftertheholecampaign.Keywords：Manipulator,Hydraulic,ControlLoop,PLC.6目录第一章前言.....................................................................................................................................81.1工业机器人简介...............................................................................................................81.2世界机器人的发展............................................................................................................81.3我国工业机器人的发展...................................................................................................91.4我要设计的机械手.........................................................................................................101.4.1臂力的确定.........................................................................................................101.4.2工作范围的确定.................................................................................................101.4.3确定运动速度.....................................................................................................101.4.4手臂的配置形式.................................................................................................111.4.5位置检测装置的选择.........................................................................................111.4.6驱动与控制方式的选择.....................................................................................11第二章手部结构...........................................................................................................................122.1概述..................................................................................................................................122.2设计时应考虑的几个问题.............................................................................................122.3驱动力的计算.................................................................................................................122.4两支点回转式钳爪的定位误差的分析.........................................................................14第三章腕部的结构.......................................................................................................................153.1概述.................................................................................................................................153.2腕部的结构形式.............................................................................................................153.3手腕驱动力矩的计算......................................................................................................16第四章臂部的结构.......................................................................................................................184.1概述.................................................................................................................................184.2手臂直线运动机构..........................................................................................................184.2.1手臂伸缩运动......................................................................................................184.2.2导向装置...........................................................................................................194.2.3手臂的升降运动.................................................................................................204.3手臂回转运动.................................................................................................................204.4手臂的横向移动.............................................................................................................214.5臂部运动驱动力计算.....................................................................................................214.5.1臂水平伸缩运动驱动力的计算.....................