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摘 要
在機(jī)械制造業(yè)中，機(jī)械手已被廣泛應(yīng)用，大大地改善了工人的勞動(dòng)條件，顯著地提高勞動(dòng)生產(chǎn)率，加快了實(shí)現(xiàn)工業(yè)生產(chǎn)機(jī)械化和自動(dòng)化的步伐。
本文通過(guò)對(duì)機(jī)械手的組成和分類(lèi)，及國(guó)內(nèi)外的發(fā)展?fàn)顩r的了解，對(duì)本課題任務(wù)進(jìn)行了總體方案設(shè)計(jì)。確定了機(jī)械手用三自由度和圓柱坐標(biāo)型式。設(shè)計(jì)了機(jī)械手的夾持式手部結(jié)構(gòu)；以及設(shè)計(jì)了機(jī)械手的總體結(jié)構(gòu)，以實(shí)現(xiàn)機(jī)械手伸縮，升降，回轉(zhuǎn)三個(gè)自由度及手爪的開(kāi)合。驅(qū)動(dòng)方式由氣缸來(lái)實(shí)現(xiàn)手臂伸縮和升降，異步電機(jī)來(lái)實(shí)現(xiàn)機(jī)械手的旋轉(zhuǎn)。
運(yùn)用了FX 系列可編程序控制器（PLC）對(duì)上下料機(jī)械手進(jìn)行控制, 論述了電氣控制系統(tǒng)的硬件設(shè)計(jì), 控制軟件結(jié)構(gòu)以及手動(dòng)控制程序和自動(dòng)控制程序的設(shè)計(jì)。
關(guān)鍵詞：機(jī)械手，氣缸，可編程序控制器
Abstract
In mechanical manufacturing industry, manipulator has been applied extensively so that the labor condition of worker has been greatly improved , labor productivity raised notably, the step of industrial production mechanization and automation realized rapidly.
This article through to manipulator's composition and the classification, and the domestic and foreign development condition's understanding, has carried on the overall concept design to this topic duty. Had determined the manipulator uses three degrees-of-freedom and the circular cylindrical coordinate pattern. Has designed manipulator's clamp type hand structure; As well as has designed manipulator's gross structure, realizes the manipulator to expand and contract, the fluctuation, rotates three degrees-of-freedom and hand fingernail's opening and closing. The drive type realizes the arm expansion and the fluctuation by the air cylinder, the asynchronous machine realizes manipulator's revolving.
The paper illustrates that the control of the upper and lower material by means of the PLC and also includes the hardware design of the electric control system, the control software structure and the design of the manual and automatic control program.
Key words: manipulator, air cylinder, Programmable controller（PLC）
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目 錄
1 緒言 1
1.1 機(jī)械手的概述 1
1.2 我國(guó)機(jī)械手的發(fā)展 1
1.3 氣動(dòng)機(jī)械手的應(yīng)用現(xiàn)狀及發(fā)展前景 3
1.4 本課題設(shè)計(jì)要求 5
2 機(jī)械手的總體設(shè)計(jì)方案 7
2.1 機(jī)械手的系統(tǒng)工作原理及組成 7
2.2 機(jī)械手基本形式的選擇 8
2.3 驅(qū)動(dòng)機(jī)構(gòu)的選擇 9
2.4 機(jī)械手的技術(shù)參數(shù)列表 9
3 機(jī)械手的機(jī)械系統(tǒng)設(shè)計(jì) 11
3.1 機(jī)械手的運(yùn)動(dòng)概述 11
3.2 機(jī)器人的運(yùn)動(dòng)過(guò)程分析 12
4 機(jī)械手手部結(jié)構(gòu)設(shè)計(jì)及計(jì)算 13
4.1 手部結(jié)構(gòu) 13
4.2 手部結(jié)構(gòu)設(shè)計(jì)及計(jì)算 14
4.3 夾緊氣缸的設(shè)計(jì) 16
5 機(jī)械手手臂機(jī)構(gòu)的設(shè)計(jì) 22
5.1 手臂的設(shè)計(jì)要求 22
5.2 伸縮氣壓缸的設(shè)計(jì) 22
5.3 導(dǎo)向裝置 27
6 機(jī)械手腰部和基座結(jié)構(gòu)設(shè)計(jì)及計(jì)算 29
6.1 結(jié)構(gòu)設(shè)計(jì) 29
6.2 控制手臂上下移動(dòng)的腰部氣缸的設(shè)計(jì) 29
6.3 導(dǎo)向裝置 33
6.4 平衡裝置 33
6.5 基座結(jié)構(gòu)設(shè)計(jì) 34
7 氣動(dòng)系統(tǒng)設(shè)計(jì) 37
7.1 氣壓傳動(dòng)系統(tǒng)工作原理圖 37
8 機(jī)械手的PLC控制系統(tǒng)設(shè)計(jì) 39
8.1 可編程序控制器的選擇及工作過(guò)程 39
8.2 可編程序控制器的使用步驟 40
8.3 機(jī)械手可編程序控制器控制方案 40
9 結(jié)論 52
參考文獻(xiàn) 53
致謝 54