基于柔性夹持器的工件搬运系统设计
毕业论文关键词 气动工件搬运系统 柔性夹持器 PLC 控制器
Title Design of Workpiece Handling System for Flexible Gripper
Abstract The Workpiece Handling System for Flexible Gripper was designed in this work, the system can carry workpieces which are fragile, easily deformed and irregular shape autonomously. This work introduces the types and the current situation at home and abroad of the Pneumatic manipulator. According to the requirements of the task book,the overall conceptions of the Workpiece Handling System was advanced. A king of Flexible Grippers was analysed and ameliorated, through the selection of analysis, calculation and determine the Cartesian motion arm and gantry type overall frame were proposed by calculating and analyzing. 3D model was established for motion simulation. According to control requirements, SIEMENS S7-200 PLC-CPU226 and magnetic valve were selected, the control circuit was set up and corresponding program was written too. Parts were processed to complete assembly of Pneumatic manipulator entity. The test showed that the system can realize the function of carrying workpieces which are fragile, easily deformed and irregular shape better.
Keywords Pneumatic Workpiece Handling System Flexible Gripper PLC Controller
目次
1绪论.1
1.1研究背景及意义.1
1.2气动机械手结构设计研究现状.1
1.3气动机械手控制和研究现状.4
1.4本课题实现方法.5
2气动搬运机械手总体方案设计.6
2.1机械结构.6
2.2控制系统.8
3气动搬运机械手机械结构设计方案10
3.1气动手爪设计10
3.2操作臂12
3.3整体外框架方案19
3.4气动搬运机械手建模21
4气动搬运机械手控制系统设计方案23
4.1控制系统硬件设计23
4.2控制系统软件设计27
5气动搬运机械手实体组装与调试31
结论.33
致谢.34
参考文献35
附录A指令表37
1 绪论 1.1 研究背景及意义 由于在自动化工业领域，易碎、易变形、外形尺寸不规则的工件总是存在，例如：集成芯片、玻璃制品等，这就要求机械手末端执行器能够以恰当的力夹持工件，但对工件不造成任何硬性伤害。本课题研究了基于变形手爪的工件搬运系统，它能够适应工件的形状，且不会划伤工件表面，也不会对工件产生挤压变形，保证了工件的功能性完好。相比于气流负压吸盘式机械手，此系统噪音较小；相比于普通刚性夹持器机械手，此系统灵活性和适应性更好。 气动机械手作为机械手的一种, 它具有结构简单，重量轻，快速，稳定，可靠，节能、环保等优点，被广泛应用[1-3]。模块化是气动机械手设计、制造过程中着重强调的,具体的体现就是其拼装结构形式，同时先进的阀岛技术（可重复编程等）已经作为气动机械手控制系统中至关重要的一部分，而气动伺服系统则实现了机械手在任意位置上的精确定位[4]。这样的形式使得气动机械手拆卸更加方便，同样大量模块化的设计与拼装带来的另一个好处就是适应性更好，而这一点在生产自动化行业显得尤为重要。 1.2 气动机械手结构设计研究现状 气动搬运机械手主要由操作臂、气动手爪、手腕组成。压力空气作为整个驱动装置的动力源。
上一篇：双轴混合机三维设计与性能分析
下一篇：某液压缓冲器设计+文献综述