【正文】 代替人 工， 安全的完成作業(yè)，使勞動(dòng)條件得以改善。當(dāng)工件變更時(shí)，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新?lián)Q代，適銷對(duì)路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。 因此，機(jī)械手已受到許多部門的重視，并越來越廣泛地得到了應(yīng)用 。s pneumatic technology and relay control. The robot is used for punching processing parts, automatic robot to punch materials, and to achieve semifinished parts in the conversion between seven working. The robot is driven by the cylinder, arm stretching, shifting, and lifting movement and hydraulic shock absorber buffer. The overall program design of the robot to determine the robot’s coordinate forms and degrees of freedom and its technical parameters, at the same time design a manipulator clamp hand structure manipulator wrist and arm structure, puting out of the turn of the wrist, the required driving torque and rotary cylinder drive torque. The electrical controller of the robot adopts PLC control, drawing in the design of a pneumatic system schematic and PLC controller control program. This way the robot can make the different stations at the same time processing, there by improving the efficiency of labor, but also improve the accuracy of production, and also reduces the number of personnel requirements, there by reducing the labor intensity, and to ensure labor safety. Key Words： Manipulator； Multistation； Pneumatic； Electrical Control 多工位沖床專用機(jī)械手及送料機(jī)構(gòu) 設(shè)計(jì) III 目 錄 摘 要 .............................................................. I Abstract ............................................................. II 一、緒論 .............................................................. 1 （一）工業(yè)機(jī)械手 ...................................................... 1 1．工業(yè)機(jī)械手概述 ................................................. 1 2．工業(yè)機(jī)械手的應(yīng)用 與意義 ......................................... 1 （二）機(jī)械手的組成和分類 .............................................. 2 1．機(jī)械手的組成 ................................................... 2 2．機(jī)械手的分類 ................................................... 3 （三）工業(yè)機(jī)械手的發(fā)展 ................................................ 4 1．工業(yè)機(jī)械手的發(fā)展歷史 ........................................... 4 2．工業(yè)機(jī)械手的發(fā)展方向 ........................................... 5 二、機(jī)械手總體設(shè)計(jì)方案 ................................................ 7 （一）機(jī)械手的坐標(biāo)形式與自由度 ........................................ 7 1．直角坐標(biāo)機(jī)械手結(jié)構(gòu) ............................................. 7 2．圓柱坐標(biāo)機(jī)械手結(jié)構(gòu) ............................................. 7 3．球坐標(biāo)機(jī)械手結(jié)構(gòu) ............................................... 7 4．關(guān)節(jié)型機(jī)械手結(jié)構(gòu) ............................................... 8 （二）機(jī)械手手部結(jié)構(gòu)總體方案設(shè)計(jì) ...................................... 8 1．機(jī)械手的手爪結(jié)構(gòu)方案設(shè)計(jì) ....................................... 8 2．機(jī)械手的手腕結(jié)構(gòu)方案設(shè)計(jì) ....................................... 9 3．機(jī)械手的手臂結(jié)構(gòu)方案設(shè)計(jì) ...................................... 10 4．機(jī)械手驅(qū)動(dòng)方案的選擇 .......................................... 11 5．機(jī)械手氣壓驅(qū)動(dòng)系統(tǒng)總體設(shè)計(jì) .................................... 13 6．機(jī)械手導(dǎo)向裝置的選擇 .......................................... 14 7．機(jī)械手平衡裝置的選擇 .......................................... 14 8．機(jī)械手的緩沖方案設(shè)計(jì) .......................................... 15 9．機(jī)械手的主要參數(shù) .............................................. 16 三、手部結(jié)構(gòu)設(shè)計(jì) ..................................................... 18 （一）手指結(jié)構(gòu)的設(shè)計(jì) ................................................. 18 1．手指的形狀和分類 .............................................. 18 2．設(shè) 計(jì)時(shí)需注意的問題 ............................................ 18 （二）手部夾緊氣缸的設(shè)計(jì) ............................................. 19 多工位沖床專用機(jī)械手及送料機(jī)構(gòu) 設(shè)計(jì) IV 1．手部驅(qū)動(dòng)力計(jì)算 ................................................ 19 2．氣缸直徑的計(jì)算 ................................................ 20 3．缸筒壁厚的設(shè)計(jì) ................................................ 21 四、手臂伸縮，升降，橫移的尺寸設(shè)計(jì)與校核 ............................. 23 （一）手臂伸縮氣缸的尺寸設(shè)計(jì)與校核 ................................... 23 1． 手臂伸縮氣缸的尺寸設(shè)計(jì) ........................................ 23 2． 手臂伸縮氣缸的尺寸校核 ........................................ 23 （二）手臂升降氣缸的尺寸設(shè)計(jì)與校核 ................................... 24 1． 手臂升降氣缸的尺寸設(shè)計(jì) ........................................ 24 2．手臂升降氣缸的尺寸校核 ........................................ 24 （三）橫移氣缸的尺寸設(shè)計(jì)與校核 ....................................... 25 1．橫移氣缸的尺寸設(shè)計(jì) ............................................ 25 2．橫移氣缸的尺寸校核 ............................................ 25 五、機(jī)械手的定位與平穩(wěn)性 ............................................. 27 （一）常用的定位方式 ................................................. 27 （二）影響平穩(wěn)性和定位精度的因素 ..................................... 27 1．定位方式 ...................................................... 27 2．定位速度 ...................................................... 27 3．精度 .......................................................... 27 4．剛度 .......................................................... 27 5．運(yùn)動(dòng)件的重量 .................................................. 27 6．驅(qū)動(dòng)源 ........................................................ 27 7．控制系統(tǒng) ...................................................... 28 （三）機(jī)械手運(yùn)動(dòng)的緩沖裝置 ........................................... 28 ................................................. 28 2．計(jì)算沿運(yùn)動(dòng)方向作用在活塞上的外力 .............................. 28 3. 計(jì)算殘余速度 .................................................. 28 六、機(jī)械手的電氣控制系統(tǒng)設(shè)計(jì) ......................................... 29 （一）機(jī)械手的氣壓傳動(dòng)系統(tǒng) ........................................... 29 （二）機(jī)械手的電氣控制系統(tǒng) ........................................... 30 1．環(huán)形時(shí)序步進(jìn)器 ................................................ 31 2．二極管矩陣 .................................................... 32 結(jié) 論 ............................................................. 35 參考文獻(xiàn) ............................................................. 36 多工位沖床專用機(jī)械手及送料機(jī)構(gòu) 設(shè)計(jì) V 致 謝 ............................................................. 37 多工位沖床專用機(jī)械手及送料機(jī)構(gòu) 設(shè)計(jì) –1– 一、緒論 （一）工業(yè)機(jī)械手 1． 工業(yè)機(jī)械手概述 機(jī)械手是在機(jī)械化 、 自動(dòng)化生產(chǎn)過程中發(fā)展起來的 ， 模仿 人手的部分動(dòng)作，按給定程序、軌跡和要求實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)或操作的 一種新型裝置 。 該 機(jī)械手 采用 PLC 系統(tǒng)進(jìn)行控制，在設(shè)計(jì)中繪制出了氣壓