PLC液压通用机械手设计+CAD图纸
毕业论文关键词：液压，可编程逻辑控制器，软件结构
The Design of hydraulic general manipulator
Abstract:The rapid development of the robot is due to its positive role is increasingly known to people;.Firstly, it can partly replace the manual operation.Secondly, it can be in accordance with the requirements of the production process,follow certain procedures, time and location to complete the transfer and loading and unloading work; Thirdly, it can operate the necessary equipment for welding and assembly. Thus greatly improve the working conditions of workers,improve labor productivity, accelerate the realization of industrial production mechanization and automation pace.Thus, by the advanced industrial countries attach importance to, put in a lot of human and material resources for study and application. Especially at high temperature, high pressure, pressed powder, noise and radioactive pollutionoccasions, more widely applied. In our country, in recent years, rapid development, and achieved certain results, bythe machinery industry and railway industry attention. Driven by hydraulic drive to achieve a telescopic arm, lifting andluffing, rotary and rotary arm wrist. Application of programmable logic controller (PLC) of the hydraulic drivemanipulator control, and electrical control system hardware design, control software design of structure and control procedures manual and automatic control program.
Key words: hydraulic system , PLC, software structure
目 录
1 绪论5
1.1 机械手的概述5
1.2 文献综述6
1.3 课题设计要求7
2 机械手手部结构及计算9
2.1 手部结构9
2.2 机械手手爪设计及计算10
2.3 夹紧液压缸的设计12
3 腕部结构设计及计算14
3.1 腕部设计要求和结构选择14
3.2 腕部设计计算14
4 臂部设计及计算19
4.1 手臂设计要求19
4.2 伸缩液压缸的设计19
4.3 导向装置24
5 机械手腰部和机座结构设计及计算25
5.1 腰部液压缸设计25
5.2 机身回转液压缸设计25
5.3 导向装置和平衡装置设计27
6 液压系统设计29
6.1 液压元件选择及工作原理29
7 机械手的PLC控制系统设计34
7.1 PLC的选择和工作原理34
7.2 PLC的调试主要步骤34
7.3 机械手PLC控制方案36
8 小结45
9 致谢46
8 参考文献47
1 绪论
机械手是近几十年发展起来的一种高科技自动化生产设备。工业机械手是工业 机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构 造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业 的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。 随着工业自动化的发展, 出现了数控加工中心,它在减轻工人的劳动强度的同时, 大大提高了劳动生产率。但数控加工中常见的上下料工序, 通常仍采用人工操作或传统继电器控制的半自动化装置。前者费时费工、效率低; 后者因设计复杂, 需较多继电器,接线繁杂, 易受车体振动干扰,而存在可靠性差、故障多、文修困难等问题。可编程序控制器 PLC 控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力, 保证了系统运行的可靠性,降低了文修率, 提高了工作效率。机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术 和计算机技术等科学领域，是一门跨学科综合技术。