搬运机械手的设计论文(完整版)

I摘要随着工业自动化的普及和发展，控制器的需求量逐年增大，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，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。搬运机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，本文介绍的是机械手模型基于PLC的控制系统设计。在设计中，通过对机械手手部结构的设计，臂部结构的设计，以及液压系统的设计，完成了搬运机械手的系统结构设计。在PLC控制系统设计中，首先，对可编程序控制器进行相应的介绍，选择了PLC的型号。然后，通过对机械手的各功能实现形式和控制方式的研究，给出了各部分的实现方案并确定了控制系统的器材。最后，进行PLC控制系统的硬件结构和软件程序设计。关键词：搬运机械手；结构设计；液压系统；PLC控制IIABSTRACTWiththepopularizationanddevelopmentofindustrialautomation,controldemandincreasedyearbyyear,carryingmanipulatorapplicationalsograduallypopular,mainlyintheautomotive,electronics,machinery,food,medicineandotherfieldsofproductionlinesorcargotransport,canbebettertosaveenergyandimprovetheefficiencyoftransportequipmentorproducts,inordertoreduceotherhandlingthelimitationandinadequacy,meettheneedsofmoderneconomicdevelopment.Manipulatorisakindofautomaticpositioningcontrolandcanbeprogrammedtochangethemulti-functionmachines,thispaperintroducesthemechanicalhandmodelthecontrolsystemdesignbasedonPLC.Inthedesign,throughthemechanicalhandarmstructuredesign,structuredesign,andthedesignofthehydraulicsystem,completedthemanipulatorsystemstructuredesign.InthedesignofPLCcontrolsystem,firstofall,totheprogrammablecontrollertocarryoutthecorrespondingintroduction,selectionofPLCmodels.Then,throughthemechanicalhandfunctionimplementationandResearchonthecontrolmode,discussedsomeoftheimplementationschemeandthecontrolsystemequipment.Finally,thePLCcontrolsystemhardwarestructureandthesoftwaredesign.Keywords：manipulator；structuredesign；hydraulicsystem；PLCcontrolIII目录摘要..............................................................................................................................................IABSTRACT...................................................................................................................................II1绪论...........................................................................................................................................11.1设计背景..............................................................................................................................11.2机械手简介..........................................................................................................................11.2.1机械手的发展概况.....................................................................................................11.2.2机械手的应用意义.....................................................................................................21.2.3搬运机械手的应用简况.............................................................................................31.2.4机械手的发展趋势.....................................................................................................41.3PLC概况及在机械手中的应用..........................................................................................41.4设计目的.............................................................................................................................61.5设计原则..............................................................................................................................61.6本设计的主要内容.............................................................................................................72.搬运机械手的整体设计.............................................................................................................82.1执行机构..............................................................................................................................82.2驱动系统..............................................................................................................................92.3控制系统.............................................................................................................................92.4位置检测装置.....................................................................................................................93手部结构...................................................................................................................................103.1概述...................................................................................................................................103.2设计时应考虑的几个问题...............................................................................................103.3驱动力的计算...................................................................................................................103.4两支点回转式钳爪的定位误差的分析...........................................................................123.5手抓加持范围计算...........................................................................................................124臂部的设计................................................................................................................................144.1臂部设计的基本要求.......................................................................................................144.2手臂的典型机构以及结构的选择...................................................................................154.2.1手臂的典型运动机构......................................................................