机械臂论文

河南理工大学本科毕业设计（论文）说明书I摘要用于再现人手的的功能的技术装置称为机械手，机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。工业机器人的技术水平和应用程度在一定程度上反应了一个国家工业自动化的水平，随着工业自动化的普及和发展，搬运机械手的应用也逐渐普及，主要在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运,可以更好地节约能源和提高运输设备或产品的效率，减少其他运输工具的局限，从而满足现代经济发展的要求。本机械手主要用于光轴的搬运工作，能够配合机床（如锻床、数控机床、组合机床）或装配线等进行圆柱形工件搬运。本机械手将采用三个自由度，为气压驱动。本设计首先对机械手的手部、手腕、手臂等各个部分进行设计计算，然后选择合适的传动方式、驱动方式，搭建机器人的结构平台；其次，在气动系统的基础上对电气控制系统（PLC）进行了合理设计和布线。其动作过程包括：下降、夹紧、上升、慢进、快进、慢进、延时、下降、放松、上升、慢退、快退、慢退；其操作方式包括：回原位、手动、单步、单周期、连续；完成搬运机械手搬运工件的最终要求。关键词:机械手，搬运，结构，气压，可编程控制器（PLC）。AbstractIIAbstractThetechnologydeviceusedtoreproducethestafffunctioniscalledamechanicalhand,themechanicalhandisimitatetheactionofthemanpower,toachieveagivenprogram,trackandrequirementsautomaticallygrab,handlingoroperationofautomaticmechanicaldevice.Robotscanreplacethehandsofheavylabor,significantlyreducethelaborintensity,improveworkingconditions,andimprovelaborproductivityandautomationlevel.Thetechniquelevelandtheapplicationdegreeofindustrialrobotsreflectthenationalleveloftheindustrialautomationtosomeextent,withthepopularityofindustrialautomationanddevelopment,handlingtheapplicationofmechanicalhandgraduallypopularity,mainlyintheautomotive,electronic,mechanicalprocessing,food,medicineandotherareasoftheproductionlineorcargotransport,wecanbemoregoodtosaveenergyandimprovethetransportefficiencyofequipmentorproducts,toreducerestrictionsonothermodesoftransportationtomeettherequirementsofmoderneconomicdevelopment.Thismanipulatorismainlyusedformetalopticaxishandlingwork,canmatchwithmachinetools(suchasforgingbed,NCmachinetools,combinationmachinetools)orassemblylineofweighttorealizecylindricalworkpieceshandling.Therobotwillusethethreedegreesoffreedomforthepneumaticdrive.First,Idesignandcalculatethehand,wrist,armandvariouspartsofthemechanicalhand.Thenchoosetheproperdrivemethodandtransmissionmethod,buildthemechanicalstructureofthemechanicalhand.Second,designandwiretheelectricalcontrolsystemonthebaseofthepneumaticsystemofthemanipulator.Theircourseofactionshouldinclude:declineinclampingincreased,slowforward,fastforward,slowprogress,theextensionof,thedropin,relax,rise,slowback,rewind,slowback;itsoperation,including:backinsitu,manual,single-step,singlecycle,continuous;andfinallycompletethefinalrequirementsofthehandlingrobotporterpieces.Keywords:mechanicalhand,transport,structure,pneumatic,programmablelogiccontroller(PLC).河南理工大学本科毕业设计（论文）说明书III目录摘要..............................................................IAbstract.........................................................II第一章绪论.....................................................51.1选题背景...................................................51.2机械手设计目的及意义.......................................51.3机械手发展历史及现状.......................................61.4国内外应用及发展趋势.......................................81.5设计大纲...................................................9第二章机械手方案设计及计算.....................................112.1机械手的设计要求及技术参数................................112.1.1机械手的总体方案论证.................................112.1.2驱动方式的选择.......................................112.1.3技术参数.............................................122．2手部结构设计及计算......................................132.2.1手部设计要求.........................................132.2.2手部选型及计算.......................................142.2.3手部夹紧力和驱动力计算..............................152.2.4气缸的直径确定.......................................172.2.5缸筒壁厚的设计.......................................182.3腕部结构设计.............................................192.3.1腕部设计要求.........................................192.3.2腕部的总体设计要求如下：.............................202.4臂部结构设计及计算.......................................202.4.1臂部设计要求.........................................202.4.2伸缩手臂的设计.......................................212.4.3手臂伸缩气缸的尺寸设计...............................222.4.4导向装置.............................................232.4.5平衡装置.............................................232.4.6手臂升降气缸的尺寸设计与校核.........................232.5机身设计及计算............................................242.5.1回转机身设计.........................................252.5.2尺寸设计及校核.......................................25第三章气动系统的设计............................................283.1驱动方式的选择............................................283.2气动原理图................................................283.2.1气动控制系统简介：...................................283.2.2各执行机构的调速.....................................30第四章机械手的PLC控制设计......................................314.1PLC简介...................................................314.1.1PLC的发展历史.......................................314.1.2PLC的结构...........................................324.1.3PLC系统的其它设备..................................334.1.4PLC的分类...........................................33目录IV4.1.5PLC的特点...........................................344.1.6PlC的用途...........................................344.2机械手动作PLC设计........................................354.2.1I/O接口简介.........................................364.3PLC设计..