【正文】 河南理工大學 本科畢業(yè)設(shè)計（論文）說明書 I 摘要 用于再現(xiàn)人手的的功能的技術(shù)裝置稱為機械手 ， 機械手是模仿著人手的部分動作，按給定程序、軌跡和要求實現(xiàn)自動抓取、搬運或操作的自動機械裝置。 機械手可以代替人手的繁重勞動，顯著減輕工人的勞動強度，改善勞動條件，提高勞動生產(chǎn)率和自動化水平。 工業(yè)機器人的技術(shù)水平和應(yīng)用程度在一定程度上反應(yīng)了一個國家工業(yè)自動化的水平， 隨著工業(yè)自動化的普及和發(fā)展 ， 搬運機械手的應(yīng)用也逐漸普及，主要在汽車，電子，機械加工、食品、醫(yī)藥等領(lǐng)域的生產(chǎn)流水線或貨物裝卸調(diào)運 , 可以更好地節(jié)約能源和提高運輸設(shè)備或產(chǎn)品的效率， 減少其他運輸工具的局 限，從而 滿足現(xiàn)代經(jīng)濟發(fā)展的要求。 本機械手主要用于光軸的搬運工作，能夠配合機床（如鍛床、數(shù)控機床、組合機床）或裝配線等進行圓柱形工件搬運。本機械手將采用三個自由度，為氣壓驅(qū)動。本設(shè)計首先對機械手的手部、手腕、手臂等各個部分進行設(shè)計計算，然后選擇合適的傳動方式、驅(qū)動方式，搭建機器人的結(jié)構(gòu)平臺；其次，在氣動系統(tǒng)的基礎(chǔ)上對電氣控制系統(tǒng)（ PLC）進行了合理設(shè)計和布線。其 動作過程包括：下降、夾緊、上升、慢進、快進、慢進、延時、下降、放松、上升、慢退、快退、慢退；其操作方式包括：回原位、手動、單步、單周期、連續(xù) ； 完成搬運機械手搬運工件的最終要求。 關(guān)鍵詞 : 機械手，搬運，結(jié)構(gòu)，氣壓，可編程控制器（ PLC）。 Abstract II Abstract The technology device used to reproduce the staff function is called a mechanical hand, the mechanical hand is imitate the action of the manpower, to achieve a given program, track and requirements automatically grab, handling or operation of automatic mechanical device. Robots can replace the hands of heavy labor, significantly reduce the labor intensity, improve working conditions, and improve labor productivity and automation level. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, with the popularity of industrial automation and development, handling the application of mechanical hand gradually popularity, mainly in the automotive, electronic, mechanical processing, food, medicine and other areas of the production line or cargo transport, we can be more good to save energy and improve the transport efficiency of equipment or products, to reduce restrictions on other modes of transportation to meet the requirements of modern economic development. This manipulator is mainly used for metal optic axis handling work, can match with machine tools (such as fing bed, NC machine tools, bination machine tools) or assembly line of weight to realize cylindrical work pieces handling. The robot will use the three degrees of freedom for the pneumatic drive. First, I design and calculate the hand, wrist, arm and various parts of the mechanical hand. Then choose the proper drive method and transmission method, build the mechanical structure of the mechanical hand. Second, design and wire the electrical control system on the base of the pneumatic system of the manipulator. Their course of action should include: decline in clamping increased, slow forward, fast forward, slow progress, the extension of , the drop in, relax, rise, slow back, rewind, slow back。 its operation, including: back in situ, manual, singlestep, single cycle, continuous。 and finally plete the final requirements of the handling robot porter pieces. Keywords: mechanical hand, transport, structure, pneumatic , programmable logic controller (PLC). 河南理工大學本科畢業(yè)設(shè)計（論文）說明書 III 目錄 摘要 ......................................................... I Abstract .................................................... II 第一章 緒論 ................................................. 5 選題背景 ................................................... 5 機械手設(shè)計目的及意義 ....................................... 5 機械手發(fā)展歷史及現(xiàn)狀 ....................................... 6 國內(nèi)外 應(yīng)用及發(fā)展趨勢 ....................................... 8 設(shè)計大綱 ................................................... 9 第二章 機械手方案設(shè)計及計算 .................................. 11 機械手的設(shè)計要求及技術(shù)參數(shù) ................................ 11 機械手的總體方案論證 ................................. 11 驅(qū)動方式的選擇 ....................................... 11 技術(shù)參數(shù) ............................................. 12 2． 2 手部結(jié)構(gòu)設(shè)計及計算 ...................................... 13 手部設(shè)計要求 ......................................... 13 手部選型及計算 ....................................... 14 手部夾緊力和驅(qū)動力計算 .............................. 15 氣缸的直徑確定 ....................................... 17 缸筒壁厚的設(shè)計 ....................................... 18 腕部結(jié)構(gòu)設(shè)計 ............................................. 19 腕部設(shè)計要求 ......................................... 19 腕部的總體設(shè)計要求如下： ............................. 20 臂部結(jié)構(gòu)設(shè)計及計算 ....................................... 20 臂部設(shè)計要求 ......................................... 20 伸縮手臂的設(shè)計 ....................................... 21 手臂伸縮氣缸的尺寸設(shè)計 ............................... 22 導向裝置 ............................................. 23 平衡裝置 ............................................. 23 手臂升降氣缸的尺寸設(shè)計與校核 ......................... 23 機身設(shè)計及計算 ............................................ 24 回轉(zhuǎn)機身設(shè)計 ......................................... 25 尺寸設(shè)計及校核 ....................................... 25 第三章 氣動系統(tǒng)的設(shè)計 ......................................... 28 驅(qū)動方式的選擇 ............................................ 28 氣動原理圖 ................................................ 28 氣動控制系統(tǒng)簡介： ................................... 28 各執(zhí)行機構(gòu)的調(diào)速 ..................................... 30 第四章 機械手的 PLC 控制設(shè)計 ................................... 31 PLC 簡介 ................................................... 31 PLC 的發(fā)展歷史 ....................................... 31 PLC 的結(jié)構(gòu) ........................................... 32 PLC 系統(tǒng)的其它設(shè)備 .................................. 33 PLC 的分類 ........................................... 33 目錄 IV PLC 的特點 ........................................... 34 PlC 的用途 ........................................... 34 機械手動作 PLC 設(shè)計 ........................................ 35 I/O 接口簡介 ......................................... 36 PLC 設(shè)計 .................................................. 36 輸入輸出設(shè)備 ........................................ 36 選擇可編程控制器 ..................................... 36 PLC 的 I/O 分配如下： ............................... 37 PLC 外圍接線圖如下： ................................ 38 總 結(jié) ..................................................... 40 參 考 文 獻 ........................