【正文】 設(shè)計(jì)為 l =118mm,氣缸內(nèi)徑為 1D =110mm,半徑 R=55mm,氣缸運(yùn)行速度，加速度時(shí)間 t? =,壓強(qiáng) p=,則驅(qū)動(dòng)力 ``20 . RpG ?? 26 ???? )(3799 N? 尺寸校核 1．測(cè)定手腕質(zhì)量為 80kg,則重力 mgG? )(8001080 N? ?? 1， 設(shè)計(jì)加速度 )/(5 sma? ，則慣性力 maG?1 )(400580 N? ?? 3. 考慮活塞等的摩擦力，設(shè)定一摩擦系數(shù) ?k ， ? )(40 N? ?? 21 ? 總受力 mq GGGG ??? 1 )(1240 40400800 N? ??? 0GGq ? 所以設(shè)計(jì)尺寸符合實(shí)際使用要求 。 第六章 機(jī)械手的 PLC控制設(shè)計(jì) 考慮到機(jī)械手的通用性，同時(shí)使用點(diǎn)位控制，因此我們采用可編程序控制器(PLC)對(duì)機(jī)械手進(jìn)行控制 .當(dāng)機(jī)械手的動(dòng)作流程改變時(shí)，只需改變 PLC程序即可實(shí)現(xiàn)，非常方便快捷。考慮到本機(jī)械手的輸入輸出點(diǎn)不多，工作流程較簡(jiǎn)單，同時(shí)考慮到制造成本，因此在本次設(shè)計(jì)中選擇了 OMRON公司的 C28P型可編程序控制器。為此采用了循環(huán)掃描的工 作方式。 第一階段是初始化處理。輸入輸出狀態(tài)暫存器也稱(chēng)為 I/0狀態(tài)表 .該表是一個(gè)專(zhuān)門(mén)存放輸入輸出狀態(tài)信息的存儲(chǔ)區(qū)。存放輸出狀態(tài)信息的存儲(chǔ)器叫輸出狀態(tài)暫存器。當(dāng)確認(rèn)其硬件工作正常后，進(jìn)入下一階段。 在處理輸入信號(hào)階段， CPU對(duì)輸入狀態(tài)進(jìn)行掃描，將獲得 的各個(gè)輸入端子的狀態(tài)信息送到 I/0狀態(tài)表中存放。 第三階段是程序處理階段。在這個(gè)階段中，可編程序控制器對(duì)用戶程序進(jìn)行依次掃描，并根據(jù)各 I/0狀態(tài)和有關(guān)指令進(jìn)行運(yùn)算和處理，最后將結(jié)果寫(xiě)入 I/0狀態(tài)表的輸出狀態(tài)暫存器中。 段 CPU對(duì)用戶程序已掃描處理完畢，并將運(yùn) 算結(jié)果寫(xiě)入到 I/0狀態(tài)表狀態(tài)暫存器中。然后， CPU又返回執(zhí)行下一個(gè)循環(huán)的掃描周期。 采用氣壓傳動(dòng)，動(dòng)作迅速，反應(yīng)靈敏，能實(shí)現(xiàn)過(guò)載保護(hù)，便于自動(dòng)控制。 阻力損失和泄漏較小， 不會(huì)污染環(huán)境。 通過(guò)對(duì)氣壓傳動(dòng)系統(tǒng)工作原理圖的參數(shù)化繪制，大大提高了繪圖速度， 節(jié)省了大量時(shí)間和避免了不必要的重復(fù)勞動(dòng)，同時(shí)做到了圖紙的統(tǒng)一規(guī)范。可以根據(jù) 機(jī)械手的動(dòng)作順序修改程序，使機(jī)械手的通用性更強(qiáng)。老師嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度和精益求精的工作作風(fēng)使我受益匪淺。 在設(shè)計(jì)過(guò)程中，我查閱了大量的圖書(shū)資料以及網(wǎng)絡(luò)上的資料，包括機(jī)械零件、材料力學(xué)、液壓控制、幾何量公差與測(cè)量、機(jī)械制圖、機(jī)械手設(shè)計(jì)基礎(chǔ)等等，尤其是在從對(duì)各類(lèi)設(shè)計(jì)手冊(cè)的查閱中，我的知識(shí)面得到 了很大的提高；通過(guò)對(duì)該課題的獨(dú)立設(shè)計(jì)，使我對(duì)機(jī)械知識(shí)有了一個(gè)更加深入的了解，對(duì)機(jī)械這門(mén)學(xué)科有了進(jìn)一步的理解。 在課題的研究和開(kāi)發(fā)階段，我得到了機(jī)械與電氣工程學(xué)部老師的大力支持和幫助，在此一并向他們表示衷心的感謝。在設(shè)計(jì)過(guò)程中，遇到不懂的地方，我也經(jīng)常與同事、同學(xué)進(jìn)行討論，解決難題。 當(dāng)然，由于本人設(shè)計(jì)水平有限、在課程中沒(méi)有接觸過(guò)機(jī)械手的相關(guān)課程，實(shí)際經(jīng)驗(yàn)的不足，以及時(shí)間上的限制，在設(shè)計(jì)中難免存在一些錯(cuò)誤。 再次表示感謝！ 王學(xué)兵 20221029 28 專(zhuān)業(yè)相關(guān)的資料 數(shù)控車(chē)床主要用來(lái)對(duì)旋轉(zhuǎn)體零件進(jìn)行車(chē)削、鏜削、鉆削、鉸削、攻絲等工序的加工。 數(shù)控車(chē)床的結(jié)構(gòu) 數(shù)控車(chē)床的組成：數(shù)控系統(tǒng)、床身、主軸、進(jìn)給系統(tǒng)、回轉(zhuǎn)刀架、操作面板和輔助系統(tǒng)等。 立式數(shù)控車(chē)床用于回轉(zhuǎn)直徑較大的盤(pán)類(lèi)零件車(chē)削加工。 臥式數(shù)控車(chē)床按功能可進(jìn)一步分為經(jīng)濟(jì)型數(shù)控車(chē)床、普通數(shù)控車(chē)床和車(chē)削加工中心 (1)經(jīng)濟(jì)型數(shù)控車(chē)床：采用步進(jìn)電動(dòng)機(jī)和單片機(jī)對(duì)普通車(chē)床的車(chē)削進(jìn)給系統(tǒng)進(jìn)行改造后形成的簡(jiǎn)易型數(shù) 控車(chē)床。 (如圖 1所示 ) 經(jīng)濟(jì)型數(shù)控車(chē)床 (2)普通數(shù)控車(chē)床：根據(jù)車(chē)削加工要求在結(jié)構(gòu)上進(jìn)行專(zhuān)門(mén)設(shè)計(jì)，配備通用數(shù)控系統(tǒng)而形成的數(shù)控車(chē)床。這種數(shù)控車(chē)床可同時(shí)控制兩個(gè)坐標(biāo)軸，即 x軸和z軸。由于增加了 C軸和銑削動(dòng)力頭，這種數(shù)控車(chē)床的加工功能大大增強(qiáng)，除可以進(jìn)行一般車(chē)削外，還可以進(jìn)行徑向和軸向銑削、曲面銑削、中心線不在零件回轉(zhuǎn)中心的孔和徑向孔的鉆削等加工。t agree with the disciplinary action your employer has taken against you ? your employer dismisses you and you think that you have been dismissed unfairly. For more information about dismissal and unfair dismissal, see Dismissal. 29 You can make a claim to an employment tribunal, even if you haven39。t charge you more than 35% of your pensation if you win the case. If you are thinking about signing up for a damagesbased agreement, you should make sure you39。s antiracism taskforce, is in London for the Football Association39。s Premier League match at Chelsea on Sunday. I am going to be at the match tomorrow and I have asked to meet Yaya Toure, he told BBC Sport. For me it39。s 21 win. Michel Platini, president of European football39。s actions. CSKA said they were surprised and disappointed by Toure39。 May be back in the past, to oneself the paranoid weird belief disillusionment, these days, my mind has been very messy, in my mind constantly. Always feel oneself should 30 go to do something, or write something. Twenty years of life trajectory deeply shallow, suddenly feel something, do it. 一字開(kāi)頭的年齡已經(jīng)到了尾聲。總覺(jué)得 自己自己似乎應(yīng)該去做點(diǎn)什么，或者寫(xiě)點(diǎn)什么。 The end of our life, and can meet many things really do? 而窮盡我們的一生，又能遇到多少事情是真正地非做不可？ During my childhood, think lucky money and new clothes are necessary for New Year, but as the advance of the age, will be more and more found that those things are optional。t really grow up, it seems is not so important。t want to give vent to out your inner voice can be in the high school children of the feelings in a period, but was eventually infarction when graduation party in the throat, later again stood on the pitch he has sweat profusely, looked at his thrown a basketball hoops, suddenly found himself has already can39。 Originally, this world, can produce a chemical reaction to an event, in addition to resolutely, have to do, and time. 原來(lái)，這個(gè)世界上，對(duì)某個(gè)事件能產(chǎn)生化學(xué)反應(yīng)的，除了非做不可的堅(jiān)決， 還有，時(shí)間。s time, your ideas are always special to clear. Want, want, line is clear, as if nothing could shake his. Also once seemed to be determined to do something, but more often is he backed out at last. Dislike his cowardice, finally found that there are a lot of love, there are a lot of miss, like shadow really have been doomed. Those who do, just green years oneself give oneself an arm injection, or is a selfrighteous spiritual. 一個(gè)人的時(shí)候，自己的想法總是特別地清晰。也曾經(jīng)好像已經(jīng)下定了決心去做某件 事，但更多的時(shí)候是最后又打起了退堂鼓。那些曾經(jīng)所謂的非做不可，只是青蔥年華里自己給自己注射的一支強(qiáng)心劑，或者說(shuō)，是自以為是的精神寄托罷了。 Those were broken into various shapes of stationery。 Have declared the end of the encounter that haven39。突然想到那件藍(lán)格子襯衫；那些被折成各種各樣形狀的信紙；那段從街角深巷伊始的友誼；還有那場(chǎng)還沒(méi)有開(kāi)始就宣告了終結(jié)的邂逅計(jì)劃 …… 那些年那些天的非做不可，終于和青春一樣，都將在我們的人生中謝幕。ll be traveling fast, so despite the distance, it will not be like diving into the deep end of a pool. It will be like he is diving into the shallow end. Skydiver preps for the big jump When he jumps, he is expected to reach the speed of sound 690 mph (1,110 kph) in less than 40 seconds. Like hitting the top of the water, he will begin to slow as he approaches the more dense air closer to Earth. But this will not be enough to stop him pletely. If he goes too fast or spins out of control, he has a stabilization parachute that can be deployed to slow him down. His team hopes it39。t. Baumgartner still will free fall at a speed that would cause you and me to pass out, and no parachute is guaranteed to work higher than 25,000 feet (7,620 meters). 32 cause there