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自動(dòng)搬運(yùn)機(jī)械手總體機(jī)構(gòu)設(shè)計(jì)畢業(yè)設(shè)計(jì)-展示頁

2025-03-12 01:38本頁面
  

【正文】 不可缺少的自動(dòng)化設(shè)備。s pneumatic system, draw the working schematic of the pressure system of the robot. Using PLC to control the robot, select the PLC model, developed a control program of the programmable logic controller according to the workflow of the robot, to draw the robot work timing diagram and ladder, and prepared a program to control device control program. KEY WORDS: body rotation institutions, body lifting mechanism, featuresair, pressure drive, the Telescopic mechanism of the arm, Programmable Logic Controller 3 目 錄 1 緒論 .......................................................................................................................................... 5 選題背景及其意義 ......................................................................................................... 5 國內(nèi)外現(xiàn)狀及發(fā)展歷史 .................................................................................................. 7 研究內(nèi)容 ........................................................................................................................ 9 2 工業(yè)機(jī)械手的總體設(shè)計(jì)方案 .................................................................................................... 10 ................................................................................................. 10 驅(qū)動(dòng)機(jī)構(gòu)的選擇 ........................................................................................................... 12 機(jī)械手的主要部件及運(yùn)動(dòng) ............................................................................................. 12 機(jī)械手的技術(shù)參數(shù)列表 ................................................................................................ 13 3 機(jī)械手結(jié)構(gòu)設(shè)計(jì) ...................................................................................................................... 13 手部設(shè)計(jì)基本要求 ....................................................................................................... 13 典型的手部結(jié)構(gòu) ........................................................................................................... 14 4 臂部的設(shè)計(jì)及有關(guān)計(jì)算 ........................................................................................................... 19 ..................................................................................................... 19 手臂的典型運(yùn)動(dòng)機(jī)構(gòu) .................................................................................................... 21 .......................................................................................... 21 5 機(jī)身的設(shè)計(jì)計(jì)算 ...................................................................................................................... 26 ............................................................................................................ 26 手臂偏重力矩 的計(jì)算 .................................................................................................... 27 ........................................................................ 29 回轉(zhuǎn)結(jié)構(gòu)的設(shè)計(jì) ........................................................................................................... 30 6 氣壓系統(tǒng)設(shè)計(jì) ......................................................................................................................... 34 氣壓系統(tǒng)的組成 ........................................................................................................... 34 ............................................................................................................... 35 ........................................................................................................ 36 7 PLC控制系統(tǒng)設(shè)計(jì) ................................................................................................................. 36 控制過程說明 .............................................................................................................. 37 I/O點(diǎn)數(shù)分配表 ............................................................................................................ 37 PLC控制系統(tǒng)的流程圖和梯形圖 ................................................................................... 38 8 結(jié)論 ........................................................................................................................................ 45 參考文獻(xiàn) .................................................................................................................................... 47 4 致 謝 ........................................................................................................................................ 48 5 1 緒論 在現(xiàn)實(shí)生活中,機(jī)器人并不是在簡單意義上的代替人類工作的機(jī)器,而是一個(gè)擬人的電子機(jī)械設(shè)備并且擁有人類的一些專業(yè)知識(shí)。利用 PLC 對(duì)機(jī)械手進(jìn)行控制,選取了合適的 PLC 的型號(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,畫出了機(jī)械手的工作時(shí)序圖和梯形圖,并編制了可編程序控制器的控制程序。 1 摘 要 本文對(duì) 自動(dòng) 搬運(yùn)機(jī)械手進(jìn)行了總體機(jī)構(gòu)設(shè)計(jì),能夠完成機(jī)械手整體的旋轉(zhuǎn),機(jī)械手手臂的升降和伸縮,根據(jù)機(jī)械手的技術(shù)參數(shù)分別設(shè)計(jì)了機(jī)械手的夾持式手部結(jié)構(gòu)計(jì)算出了夾持 物料時(shí)手抓氣缸縮需要的驅(qū)動(dòng)力,設(shè)計(jì)了手臂伸縮、升降用的氣缸的所需驅(qū)動(dòng)力和機(jī)械手回轉(zhuǎn)時(shí)電機(jī)的功率選擇。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。 關(guān)鍵詞: 機(jī) 身回轉(zhuǎn)機(jī)構(gòu),機(jī)身升降機(jī)構(gòu),手臂伸縮機(jī)構(gòu),氣動(dòng),可編程序控制器 (PLC) 2 ABSTRACT This article conducted the overall institution design of mandrel handling robot, the robot is able to plete the robot overall rotation, the robotic arm can move and stretch, according to the manipulator specifications, I designed the manipulator gripping type hand structure ,and calculated out of the driving force when the clutch cylinder shrink clamping mandrel material, also designed a telescopic arm, the required driving force of the lift cylinder and the manipulator rotation when the motor power options. I designed the robot39。這意味著它擁有快速反應(yīng)的環(huán)境模擬和分析能力和對(duì)事物的判斷能力,機(jī)器人可以連續(xù)工作時(shí)間很長,并且加工零件精度高,還具有抵抗惡劣環(huán)境的能力。 工業(yè)機(jī)器人是機(jī)器人的一種,它由操作機(jī)(機(jī)械本體), 控制器,伺服驅(qū)動(dòng)系統(tǒng)和檢測(cè)傳感器裝置,是一種仿人操作,擁有自我反饋控制,可重復(fù)編程,三維空間完成各種綜合的電氣和機(jī)械操作自動(dòng)化生產(chǎn)設(shè)備,特別適合用在多品種,變批量的柔性生產(chǎn)。 選題背景及其意義 單詞“機(jī)器人”首次出現(xiàn)在 1920 年捷克作家卡雷爾在劇本中,作家創(chuàng)造了一個(gè)擁有的外觀,特點(diǎn)和功能, 愿意提供人性化的服務(wù)機(jī)器人的傭人“ Robota”,在他的劇中機(jī)器人被描述成像奴隸勞動(dòng)。它可以代替人的艱苦勞動(dòng),以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化,在惡劣的環(huán)境下也能很好的工作,以保護(hù)人民的安全,因此被廣泛用于機(jī)械制造,冶金,電子,輕工和原子能工業(yè)。手爪用來保持工件(或工具)的夾鉗穩(wěn)定性,根據(jù)掌握物體的形狀,大小,重量,材料和操作要求和不同的結(jié)構(gòu) 形式,機(jī)械手的手部也有很多的形式,如夾鉗式,托持式和吸附等。而機(jī)械手機(jī)身部分則可以移動(dòng)升降機(jī)構(gòu)并做獨(dú)立的回轉(zhuǎn)運(yùn)動(dòng)。為了抓取空間任意位置和方向的對(duì)象,機(jī)械手需要擁有 6 個(gè)
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