【正文】 摘 要在對工業(yè)機械手總體構思和結構分析的基礎上，結合上下料機械手的給定要求和功能，對機械手結構進行了系統的分析、設計和計算，并擬定了整體驅動系統和控制系統。 采用機電一體化設計思想，充分考慮機、電、軟、硬件各自特點進行互補優(yōu)化，對機械手整體結構、傳動系統、驅動裝置和控制系統進行了分析和設計。在結構設計的過程中結合以往機械設計的經驗確定了機械手的詳細尺寸。在標準件的應用中，充分考慮實際情況和標準件的應用準則進行了選用。由于該機械手采用液壓驅動，在油路的布置和規(guī)劃中結合機械制造的基礎，不但使油路符合制造的可行性，而且將油路布置成空間結構，是機械手的結構更加簡潔和緊湊。 在傳動系統和驅動裝置的設計中，結合各個液壓缸的動作，對液壓油的流量和壓力進行了分析，結合液壓原理中各種常用回路的功能和各液壓元件的選用原則，制定出了一套完整的液壓系統。 在控制系統的設計過程中，采用PLC可編程控制器作為控制主機，行程開關的開合作為中間動作信號，在加上PLC內部延時繼電器的使用對該機械手進行了編程，提出了一份有不同功能模塊的梯形圖。 通過以上各部分的工作，得出了實用化、高可靠性通用機械手的設計方案，對其他類型的數控系統的設計也有一定的借鑒價值。 關鍵詞：機械手；結構設計；驅動系統；PLC 。AbstractCamshaft grinding machine from top to bottom materialmanipulator design The industry manipulator overall idea and in structure analysis39。s foundation, in the union the yummy treats manipulator assigns the request and the function, has carried on system39。s analysis, the design and the putation to the manipulator structure, and has drawn up the whole driving system and the control system. uses the integration of machinery design concept, the full consideration machine, the electricity, the software and hardware respective characteristic carry on the supplementary optimization, to the manipulator overall construction, the transmission system, the drive and the control system has carried on the analysis and the design.Unified in structural design39。s process formerly the machine design the experience to determine manipulator39。s detailed size. In the standard letter application, the full consideration actual situation and the standard letter application criterion carried on has selected. Because this manipulator uses the hydraulic pressure actuation, unifies machine manufacture39。s foundation in the oil duct arrangement and the plan, not only causes the oil duct to conform to the manufacture feasibility, moreover arranges the oil duct the spatial structure, is manipulator39。s structure is more succinct and is pact.In the transmission system and in drive39。s design, unifies each hydraulic cylinder39。s movement, has carried on the analysis to the hydraulic fluid current capacity and the pressure, in the union hydraulic pressure principle each kind of monly used return route39。s function and various hydraulic element selects the principle, formulated a set of plete hydraulic systemIn control system39。s design process, uses the PLC programmable controller achievement to control the main engine, the limit switch opens and closes takes the middle operation signal, was adding on the PLC interior timing relay39。s use to carry on the programming to this manipulator, proposed had the different functional module trapezoidal chart.Through the above various part of work, has obtained practical, the redundant reliable generalpurpose manipulator39。s design proposal, also has to other type39。s numerical control system39。s design certainly profits from the value.Keywords : manipulator、structural design、drive system、PLC目 錄摘要 ...................................................................................................................................................1ABSTRACT ........................................................................................................................................II1 緒論 ...................................................................................................................................................1 機械手簡介及其應用 ................................................................................................................12 凸輪軸磨床上下料機械手的總體設計 ...........................................................................................4 機械手的組成及各部分關系概述 .............................................................................................4 執(zhí)行機構 .............................................................................................................................4 驅動機構 .............................................................................................................................5 控制系統 .............................................................................................................................6 總體方案擬定 ............................................................................................................................6 凸輪軸上下料機械手的主要技術參數 ....................................................................................73 凸輪軸磨床上下料機械手機械系統設計 .......................................................................................9 手部 ............................................................................................................................................9 手部結構設計 .....................................................................................................................9 腕