多用途氣動(dòng)機(jī)器人結(jié)構(gòu)設(shè)計(jì)(已修改)
2025-06-28 08:15 本頁(yè)面
【正文】 多用途氣動(dòng)機(jī)器人結(jié)構(gòu)設(shè)計(jì)摘要 本文簡(jiǎn)要介紹了工業(yè)機(jī)器人的概念，機(jī)械手硬件和軟件的組成，即PLC控制的氣動(dòng)機(jī)械手的系統(tǒng)工作原理，機(jī)械手各個(gè)部件的整體尺寸設(shè)計(jì)，氣動(dòng)技術(shù)的特點(diǎn)，PLC控制的特點(diǎn)。本文對(duì)機(jī)械手進(jìn)行總體方案設(shè)計(jì)，確定了機(jī)械手的坐標(biāo)形式和自由度，確定了機(jī)械手的技術(shù)參數(shù)。同時(shí)，設(shè)計(jì)了機(jī)械手的夾持式手部結(jié)構(gòu)，設(shè)計(jì)了機(jī)械手的手腕結(jié)構(gòu)，計(jì)算出了手腕轉(zhuǎn)動(dòng)時(shí)所需的驅(qū)動(dòng)力矩和回轉(zhuǎn)氣缸的驅(qū)動(dòng)力矩。設(shè)計(jì)了機(jī)械手的手臂結(jié)構(gòu)。設(shè)計(jì)出了機(jī)械手的氣動(dòng)系統(tǒng)，繪制了機(jī)械手氣壓系統(tǒng)工作原理圖，大大提高了繪圖效率和圖紙質(zhì)量。利用可編程序控制器對(duì)機(jī)械手進(jìn)行控制，選取了合適的PLC型號(hào)，根據(jù)機(jī)械手的工作流程制定了可編程序控制器的控制方案，畫(huà)出了機(jī)械手的工作時(shí)序圖，并繪制了可編程序控制器的控制程序。關(guān)鍵詞： 工業(yè)機(jī)器人 機(jī)械手 氣動(dòng) 可編程序控制器（PLC）Structural Design of Multipurpose Pneumatic RobotAbstract At first, the paper introduces the conception of the industrial robot and the Eller. Dairy information of the development briefly. What’s more, the paper accounts for the background and the primary mission of the topic. The paper introduces the function, posing and classification of the manipulator, tells out the freedegree and the form of coordinate. At the same time, the paper gives out the primary specification parameter of this manipulator,The paper designs the structure of the hand and the equipment of the drive of the manipulator. This paper designs the structure of the wrist, putes the needed moment of the drive when the wrist wheels and the moment of the drive of the paper designs the structure of the paper designs the system of air pressure drive and draws the work principle chart, the manipulator uses PLC to control. The paper institutes two control schemes of PLC according to the work flow of the manipulator. The paper draws out the work time sequence chart and the trapezium chart. What’s more, the paper workout the control program of the PLC, KEY WORDS: industrial robot manipulator pump air pressure drive PLC目 錄第一章 引言 ............................................... ..............1?。?.....................................．.......2第二章 機(jī)械手的整體設(shè)計(jì)方案 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．6 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．7．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．7．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．7．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．7．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．．8 ．．．．．．．．．．．．．．．．．．．．．．．．．．．．
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