【正文】 重慶科技學(xué)院本科生畢業(yè)論文 摘要 Ⅰ 重慶科技學(xué)院 畢業(yè)設(shè)計（論文） 題 目 基于 PLC 控制的輕型 平動搬運機械手設(shè)計 學(xué) 院 機械與動力工程學(xué)院 專業(yè)班級 學(xué)生姓名 學(xué)號 指導(dǎo)教師 職稱 講 師 評閱教師 職稱 副教授 2022 年 6 月 1 日 重慶科技學(xué)院本科生畢業(yè)論文 摘要 Ⅰ 摘 要 本課題研究的輕型平動搬運機械手具有結(jié)構(gòu)簡單，工作穩(wěn)定性高，精度準(zhǔn)確，研究成本低，使用壽命長等特點?？梢詰?yīng)用在不同的場合，大大的改善了工人的勞動條件，顯著提高了勞動生產(chǎn)率，加快實現(xiàn)工業(yè)生產(chǎn)機械化和自動化的步伐。 本文第一章節(jié)簡述了機械手的發(fā)展及研究意義；第二章節(jié)至第六章節(jié)對機械手的結(jié)構(gòu)部分設(shè)計；最后兩章節(jié)對機械手的電氣控制、 PLC 編程及程序 調(diào)試進(jìn)行簡述。 通過學(xué)習(xí)機械手的工作原理，熟悉了搬運機械手的運動機理。在此基礎(chǔ)上，確定了搬運機械手的基本系統(tǒng)結(jié)構(gòu)，對搬運機械手的運動進(jìn)行了簡單的力學(xué)模型分析，完成了機械手機械方面的設(shè)計工作（包括傳動部分、執(zhí)行部分、驅(qū)動部分）的設(shè)計 并繪制裝配圖 及 PLC 控制系統(tǒng)設(shè)計和 程序 調(diào)試。 關(guān)鍵詞 ：機械手 氣壓傳動 PLC 控制 程序調(diào)試重慶科技學(xué)院本科生畢業(yè)論文 ABSTRACT Ⅱ ABSTRACT The research of light parallel manipulator has the advantages of simple structure, high working stability, accuracy, of low cost, long life and other characteristics. Can be used in different occasions, greatly improved the conditions of labour, improve labor productivity, accelerate the realization of industrial production mechanization and automation of the pace. The first chapter introduces the development and significance of research of manipulator。 chapter second to sixth chapters on the structure of the manipulator design。 the last two chapters on the manipulator control, PLC programming and debugging were reviewed in this paper. Through the study of the manipulator39。s principle of work, familiar with the manipulator motion mechanism. On this basis, determine the carrying manipulator for the basic system structure, the manipulator motion for a simple mechanics model analysis, pleted the mechanical mechanical aspects of mobile phone design work ( including transmission part, operative, driving part ) the design and PLC control system design and debugging. Keywords： Manipulator； Pneumatic transmission； PLC control； Program debugging 重慶科技學(xué)院本科生畢業(yè)論文 目錄 III 目 錄 摘 要 ........................................................................................................................................ Ⅰ ABSTRACT ............................................................................................................................. Ⅱ 1 緒 論 .................................................................................................................................... 1 .............................................................................................................................. 1 .......................................................................................................... 1 .................................................................................. 3 .............................................................................................. 4 .......................................................................................................... 5 機械手實現(xiàn)的運動參數(shù) .......................................................................................... 5 2 機械手總體設(shè)計 ..................................................................................................................... 6 ...................................................................................................................... 6 .............................................................................................. 6 .......................................................................................................... 7 執(zhí)行機構(gòu) .................................................................................................................. 7 驅(qū)動系統(tǒng) .................................................................................................................. 8 控制系統(tǒng) .................................................................................................................. 8 3 機械手手部的設(shè)計計算 ........................................................................................................ 9 ...................................................................................................... 9 ...................................................................................... 9 .............................................................................................. 9 手爪的力學(xué)分析 ...................................................................................................... 9 夾緊力及驅(qū)動力的計算 ........................................................................................ 11 手爪夾持范圍計算 ................................................................................................ 11 機械手手爪夾持精度的分析計算 ........................................................................... 12 4 手腕結(jié)構(gòu)設(shè)計 ...................................................................................................................... 13 ............................................................................................................ 13 手腕的驅(qū)動力矩的計算 ........................................................................................... 13 手腕轉(zhuǎn)動時所需的驅(qū)動力矩 ............................................................................... 13 回轉(zhuǎn)氣缸的驅(qū)動力矩計算 ................................................................................... 15 手腕回轉(zhuǎn)缸的尺寸及其校核 ............................................................................... 15 5 手臂設(shè)計及計算 .................................................................................................................. 18 ....................................................................................................