【正文】 行模塊化設(shè)計(jì)。大多數(shù)加工中心都帶有能夠自動(dòng)換刀裝置的換刀系統(tǒng)，并按照程序?qū)崿F(xiàn)自動(dòng)加工。 編號(hào) 淮安信息職業(yè)技術(shù)學(xué)院 畢業(yè)論文 題 目 自動(dòng)換刀機(jī)械手的結(jié)構(gòu)設(shè)計(jì)及 PLC 控制 機(jī)械結(jié)構(gòu)設(shè)計(jì) 學(xué)生姓名 徐忠遙 學(xué) 號(hào) 42021137 系 部 電氣工程系 專 業(yè) 機(jī)電一體化 班 級(jí) 420211 指導(dǎo)教師 薛嵐 顧問(wèn)教師 揭志遠(yuǎn) 二 〇 一三 年 十 月摘 要 I 摘 要 隨著數(shù)控技術(shù)的應(yīng)用與發(fā)展，零件加工的輔助時(shí)間大大降低了，極大的提高了生產(chǎn)效率。伴隨著科學(xué) 技術(shù)的發(fā)展和生產(chǎn)力的提高，使數(shù)控機(jī)床發(fā)展成為機(jī)械加工中普遍應(yīng)用的一種更先進(jìn)的制造方法叫做加工中心。氣動(dòng)機(jī)械手具有簡(jiǎn)單的機(jī)構(gòu)、動(dòng)作靈敏、節(jié)能、環(huán)保、可靠性高、可實(shí)現(xiàn)無(wú)級(jí)調(diào)速等優(yōu)點(diǎn)。特將其分為若干個(gè)模塊，其包括：立柱、基座、手臂、手部、手腕等模塊。當(dāng)產(chǎn)品的使用性能發(fā)生變化時(shí)，我們可 以根據(jù)需要對(duì)部分模塊進(jìn)行修改或從新改造，這樣即節(jié)省了設(shè)計(jì)成本，又提供了設(shè)計(jì)效率。 關(guān)鍵詞 ： 自動(dòng)換刀 機(jī)械手 電氣 氣壓伺服控制 Abstract II Abstract With CNC technology application and development of auxiliary parts processing time is greatly reduced, greatly improving production efficiency. With the development of science and technology to improve productivity and make CNC machining develop into a more universal application of advanced manufacturing method called machining centers. Most machining centers with automatic tool changer can ATC system, and follow the procedures for automatic processing. Pneumatic Manipulator has a simple mechanism, sensitive, energysaving, environmental protection, high reliability, can realize step less speed regulation and other advantages. In order to improve the application range of the robot, so that each robot has different usage characteristics, so the structure of the robot modular design. Special will be divided into several modules, including: columns, base, arms, hands, wrists and other modules. In order to meet different features and capabilities, we can choose a different module binations. When product performance changes, we may need to make changes on the part of the module or retransformation, so that the design cost savings, but also provides a design efficiency. After the manipulator on the structure and motion analysis, the use of electric servo control technology of the pneumatic manipulator control and drive, pneumatic actuators according to the requirements of the electrical control signal to drive the load element the appropriate action. Keywords: Automatic tool change。 Electropneumatic servo orientation 第一章 緒論 III 目 錄 摘 要 ............................................................................................................................. I ABSTRACT .................................................................................................................. II 第一章 緒論 ................................................................................................................. 1 換刀機(jī)械手概述 ................................................................................................... 1 選題背景 ............................................................................................................... 1 設(shè)計(jì)意義 ............................................................................................................... 1 論文的主要工作 ................................................................................................... 2 第二章 機(jī)械手總體設(shè)計(jì)方案 ..................................................................................... 4 機(jī)械手類型 ........................................................................................................... 4 根據(jù)機(jī)械手的應(yīng)用范圍分類 ......................................................................... 4 按機(jī)械手手臂的運(yùn)動(dòng)坐標(biāo)型式分類 ............................................................. 4 按機(jī)械手的驅(qū)動(dòng)方式分類 ............................................................................. 4 機(jī)械手的坐標(biāo)形式與自由度 ............................................................................... 5 機(jī)械手工作過(guò)程及工步時(shí)間分配 ....................................................................... 6 確定完成動(dòng)作及順序 ..................................................................................... 6 工步時(shí)間分配 ................................................................................................. 8 機(jī)械手的結(jié)構(gòu)設(shè)計(jì)方案 ....................................................................................... 9 機(jī)械手的驅(qū)動(dòng)方案 ............................................................................................... 9 第三章 機(jī)械手的機(jī)械系統(tǒng)設(shè)計(jì) ............................................................................... 12 機(jī)械手伺服系統(tǒng)設(shè)計(jì) ......................................................................................... 12 氣動(dòng)伺服系統(tǒng)設(shè)計(jì) ....................................................................................... 12 電氣伺服閥 .....................................