气动上下料机械手的设计毕业论文

分类号密级宁宁波大红鹰学院毕业设计(论文)气动上下料机械手的设计所在学院机电学院专业机械设计制造及其自动化班级08机自2班姓名俞昱良学号08141010241指导老师任丽华年月日诚信承诺我谨在此承诺：本人所写的毕业论文《气动上下料机械手的设计》均系本人独立完成，没有抄袭行为，凡涉及其他作者的观点和材料，均作了注释，若有不实，后果由本人承担。承诺人（签名）：年月日III摘要本文对机械手进行了总体方案设计，确定了机械手的座标型式和自由度，确定了机械手的技术参数。同时，分别设计了机械手的夹持式手部结构以及吸附式手部结构;设计了机械手的手腕结构，计算出了手腕转动时所需的驱动力矩和回转气缸的驱动力矩;设计了机械手的手臂结构，设计了手臂伸缩、升降用液压缓冲器和手臂回转用液压缓冲器。设计出了机械手的气动系统，绘制了机械手气压系统工作原理图。利用可编程序控制器对机械手进行控制，选取了合适的PLC型号，根据机械手的工作流程制定了可编程序控制器的控制方案，画出了机械手的工作时序图和梯形图，并编制了可编程序控制器的控制程序。关键词：工业机械手，机械手，气动，可编程序控制器(PLC)IVAbstractInthispaper,themechanicalhandtheoverallschemedesign,themanipulatortodeterminethecoordinatesofthetypesanddegreesoffreedom,determinethetechnicalparametersofthemanipulator.Atthesametime,respectively,thedesignofthemanipulatorclampingtypehandstructureandadsorptiontypestructureofhand;designedthestructureofrobotwrist,thewristtocalculatetherotationofthedrivingtorquerequiredandarotarycylinderdrivingtorque;thedesignofthemanipulatorarmstructure,designofthetelescopicarm,aliftinghydraulicbufferandthearmrotaryhydraulicbuffer.Designofmanipulatorpneumaticsystem,renderingthemanipulatorpneumaticsystemworkingprinciplediagram.Usingprogrammablecontrollertocontrolthemechanicalhand,theappropriateselectionofPLCmodels,accordingtothemanipulatorworkfielddevelopedprogrammablecontrollercontrolscheme,drawthemechanicalhandworksequencediagramandladderdiagram,andthepreparationofPLCcontrolprogram.KeyWords:industrialrobot,manipulator,pump,airpressuredrive,PLC目录摘要......................................................................................................................................IIIAbstract.....................................................................................................................................IVV目录......................................................................................................................................IV第1章绪论............................................................................................................................71.1机械手概述..................................................................................................................71.2机械手的组成和分类..................................................................................................71.2.1机械手的组成...................................................................................................71.2.2机械手的分类.................................................................................................101.3国内外发展状况........................................................................................................121.4课题的提出及主要任务课题的主要任务................................................................13第2章设计方案....................................................................................................................142.1机械手的座标型式与自由度....................................................................................142.2机械手的手部结构方案设计...................................................................................152.3机械手的手腕结构方案设计...................................................................................152.4机械手的手臂结构方案设计...................................................................................152.5机械手的驱动方案设计...........................................................................................152.6机械手的控制方案设计...........................................................................................15第3章手部结构设计............................................................................................................153.1手指的形状和分类....................................................................................................153.2设计时考虑的几个问题............................................................................................16第4章手腕结构设计............................................................................................................16第5章手臂结构设计............................................................................................................175.1.结构设计............................................................................................................17第6章气动系统设计............................................................................................................176.1气压传动系统工作原理图........................................................................................17第7章机械手PLC控制系统设计.......................................................................................197.1机械手的工艺过程...................................................................................................197.2PLC控制系统............................................................................................................207.3PLC控制系统程序设计............................................................................................22总结........................................................................................................................................26参考文献...............................................................................................................