【正文】 ......................................................................................... 11 具體設(shè)計(jì)方案 .................................................................................................. 12 電機(jī)選型有關(guān)參數(shù)計(jì)算 ......................................................................................... 12 有關(guān)參數(shù)的計(jì)算 ............................................................................................. 12 電機(jī)型號的選擇 ............................................................................................. 15 液壓傳動系統(tǒng)設(shè)計(jì)計(jì)算 ......................................................................................... 16 確定液壓系統(tǒng)基本方案 ............................................................................... 16 擬定液壓執(zhí)行元件運(yùn)動控制回路 ........................................................... 17 液壓源系統(tǒng)的設(shè)計(jì) ........................................................................................ 18 繪制液壓系統(tǒng)圖 ............................................................................................. 18 確定液壓系統(tǒng)的主要參數(shù) .......................................................................... 19 計(jì)算和選擇液壓元件 ................................................................................... 24 第 4 章 機(jī)械手控制系統(tǒng)的設(shè)計(jì) .......................................................................... 25 硬件設(shè)計(jì) ..................................................................................................................... 25 操作面板布置 .................................................................................................. 25 工藝過程與控制要求 ................................................................................... 26 作業(yè)流程 ........................................................................................................... 26 控制器的選型 .................................................................................................. 28 控制系統(tǒng)原理分析 ........................................................................................ 28 PLC 外部接線設(shè)計(jì) ......................................................................................... 29 I/O 地址分配 .................................................................................................. 29 軟件設(shè)計(jì) ..................................................................................................................... 31 控制主程序流程圖 ........................................................................................ 31 結(jié) 論 ....................................................................................................................................... 32 致 謝 ....................................................................................................................................... 33 參考文獻(xiàn) ............................................................................................................................... 34 第一章 前言 選題背景由于工業(yè)自動化的全面發(fā)展和科學(xué)技術(shù)的不斷提高，對工作效率的提高迫在眉睫。 學(xué)生（簽名）：包瑞華2022 年 6 月 1 日摘 要通過對機(jī)械設(shè)計(jì)、制造及其自動化專業(yè)課程的學(xué)習(xí)，總結(jié)大學(xué)四年所學(xué)的知識，對工業(yè)機(jī)械手各部分機(jī)械結(jié)構(gòu)和功能的論述和分析，以及實(shí)際操作中的應(yīng)用情況，設(shè)計(jì)了一種圓柱坐標(biāo)形式的數(shù)控機(jī)床上下料機(jī)械手。 【關(guān)鍵詞】：機(jī)械手；PLC；液壓伺服定位；電液系統(tǒng)AbstractThrough the mechanical design, manufacturing and automation professional courses of study, summed up the four years of university studies the knowledge, the industrial robot mechanical structure and function of each part are discussed and analyzed, and the actual operation of the application, design a kind of cylindrical coordinate NC machine tool feeding manipulator. Focusing on the manipulator gripper, wrist, arm, waist seat and other parts of mechanical structure and control system of mechanical hand ( transmission system, driving system ) the detailed design. At the same time, the control system and hydraulic system are analyzed and the design calculation. PLC based on the control system of a manipulator to conduct indepth and detailed design, through the mechanical hand operation process and control requirement analysis, the design of the control system hardware circuit, at the same time for manipulator control program. Design to achieve the expected goal.[ Key words ]: manipulator。把機(jī)床設(shè)備和機(jī)械手共同構(gòu)成一個(gè)柔性加工系統(tǒng)或柔性制造單元，可以節(jié)省龐大的工件輸送裝置，結(jié)構(gòu)緊湊，而且適應(yīng)性很強(qiáng)。三．機(jī)械手中的傳感器作用日益重要，除采用傳統(tǒng)的位置、速度、加速度等傳感器外，還引進(jìn)了視覺、聽覺、接觸覺傳感器，使其向智能化方向發(fā)展。圓柱坐標(biāo)機(jī)械手的空間運(yùn)動是用一個(gè)回轉(zhuǎn)運(yùn)動及兩個(gè)直線運(yùn)動來實(shí)現(xiàn)的，如圖 。此種機(jī)械手在工業(yè)中應(yīng)用十分廣泛，如焊接、噴漆、搬運(yùn)、裝配等作業(yè)。萬能手爪在結(jié)構(gòu)上很復(fù)雜，甚至很難實(shí)現(xiàn)，從工業(yè)實(shí)際應(yīng)用出發(fā)，應(yīng)著重開發(fā)各種專用的、高效率的機(jī)械手手爪，加之以快速更換裝置，以實(shí)現(xiàn)機(jī)械手的多種作業(yè)功能，而不主張用一個(gè)萬能的手爪去完成多種作業(yè)，以考慮設(shè)計(jì)的經(jīng)濟(jì)效益。另外，由于氣體的可壓縮性，使氣動手爪的抓取運(yùn)動具有一定的柔順性，這一點(diǎn)是抓取動作十分需要的。這種手爪開合行程較大，適應(yīng)抓取大小不同的物體。本設(shè)計(jì)按照工件的直徑為