搬運(yùn)機(jī)械手及其控制系統(tǒng)設(shè)計(jì)畢業(yè)設(shè)計(jì)說明書(已修改)
2025-08-15 04:54 本頁(yè)面
【正文】 中文文摘 SHANDONGＵＮＩＶＥＲＳＩＴＹ?。希啤。裕牛茫龋危希蹋希牵佼厴I(yè)設(shè)計(jì)說明書搬運(yùn)機(jī)械手及控制系統(tǒng)設(shè)計(jì)學(xué) 院： 機(jī)械工程學(xué)院 專 業(yè)： 機(jī)械制造及其自動(dòng)化 36 摘要我國(guó)的機(jī)械手的發(fā)展在最近幾年得到了突飛猛進(jìn)的發(fā)展，機(jī)械手可以仿照人類的某些肢體運(yùn)動(dòng)完成某些特定的動(dòng)作，所以機(jī)械手在生產(chǎn)活動(dòng)中扮演著越來越重要的角色。因此機(jī)械手會(huì)在我國(guó)得到更普遍廣泛的應(yīng)用。 搬運(yùn)機(jī)械手在當(dāng)今工業(yè)、醫(yī)療、自然災(zāi)害等等的領(lǐng)域中等到了廣泛的應(yīng)用發(fā)展，然而搬運(yùn)機(jī)械手的控制系統(tǒng)和執(zhí)行機(jī)構(gòu)在工作中起到舉足輕重的作用，因此控制部分和執(zhí)行部分對(duì)于機(jī)械手的工作的整體運(yùn)轉(zhuǎn)情況具有十分重要的意義。所以本次畢業(yè)設(shè)計(jì)主要的任務(wù)是解決執(zhí)行機(jī)構(gòu)和控制部分的問題，該畢業(yè)設(shè)計(jì)采用氣壓傳動(dòng)作為執(zhí)行機(jī)構(gòu)，可編程控制器作為搬運(yùn)機(jī)械手的控制部分。對(duì)于本論文的總體設(shè)計(jì)主要有一下幾點(diǎn)，首先要確定搬運(yùn)機(jī)械手的工作對(duì)象、設(shè)計(jì)的目的、搬運(yùn)機(jī)械手的自由度。本畢業(yè)設(shè)計(jì)要通過計(jì)算計(jì)算出氣爪個(gè)夾緊力，伸縮臂的氣缸、擺動(dòng)氣缸的扭矩等，然后選擇標(biāo)準(zhǔn)氣缸。執(zhí)行部分要畫出氣動(dòng)原理圖，控制部分要根據(jù)搬運(yùn)機(jī)械手控的IO點(diǎn)數(shù)選擇三菱FX系列PLC。根據(jù)畢業(yè)設(shè)計(jì)的任務(wù)書要求畫出梯形圖和程序語句表。關(guān)鍵詞：搬運(yùn)機(jī)械手 氣壓動(dòng)傳動(dòng) 可編程控制器 SMC氣缸 目錄 AbstractThe robot39。s development has been rapid development in recent years, The robot can be modeled on the human limb movements to plete certain actions. Play an increasingly important role in the move. Robot in China more generally, a wide range of applicationsHandling robot in wait for a wide range of application development in the area of today39。s industrial, medical, natural disasters, etc. However, the handling robot control system and the implementing agencies to play a decisive role in the work, Control and operative parts of great significance for the overall functioning of the robot work. The graduation project the main task is to solve the problem of implementing agencies and the control part of the, The graduation project adopts pneumatic transmission, programmable logic controller for moving the control part of the robot as the executing agency. For the overall design of this paper are mainly the following points, Must first determine the object handling robot designed to degrees of freedom of the handling robot, the robot parameters, and so on. This graduation project is calculated by calculating the outlet claws clamping force, The cylinder of the telescopic boom、Parameters of robot and so on. Then select the standard cylinder. Operative to draw pneumatic schematic, The control section according to the IO handling robot control points to select the Mitsubishi FX series PLC. Graduated from the design task book draw the ladder and the program statement table.Keyword: Moving robot Pressure dynamic transmission Programmable controller SMC cylinder 目 錄摘 要………………………………………………………………………..1 Abstract（英文摘要） …………………………………………………………………………………………………………目錄…………………………………………………………………………第一章引言……………………………………………………………1．1課題的目和意義………………….1．2 工業(yè)機(jī)械手設(shè)計(jì)的基本步驟 …………………………………………….. 2 總體設(shè)計(jì) …………………………………………………………………2．1 設(shè)計(jì)的容…………………………………………………………………2．1．1總體說明……………………………………………………………..2．1．2驅(qū)動(dòng)方式的選擇和設(shè)計(jì)……………………………………………… 62．1．3整體機(jī)構(gòu)的確定……………………………………………………..3 工業(yè)機(jī)械手的機(jī)械部分設(shè)計(jì)……………………………………………
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