PLC液压驱动通用机械手设计
毕业论文关键词：液压系统，结构设计，可编程逻辑控制器
ABSTRACT
In our world, the robot has been gradually coming into our lives, and is widely applied to various fields, Such as: industry, agriculture, aerospace industry, education industry and our daily lives. Among them, the role of the robot in the field of machinery industry is quite significant, it has greatly improved the working conditions of workers, significantly increased labor productivity, accelerated the pace of mechanization and automation of industrial production. Through to understanding of the manipulator's composition and the classification, and the domestic and foreign development condition's, the article has carried on the overall concept design to this topic duty. Depending on the parameters to determine the degree of freedom of manipulator. Design the gripper-type hand structure of manipulator; and design of the overall structure of the mechanical hand to realize the mechanical hand stretching, lifting, pitching, two turnings, altogether five degrees of freedom, and the opening and closing gripper. Driven approach to achieve by the hydraulic cylinder and lift arm stretching, arm rotation and wrist rotation. The paper illustrates that the control of the hydraulic drive manipulator by means of the PLC and also includes the hardware design of the electric control system, the control software structure and the design of the manual and automatic control program.
Key words: Hydraulic system, Structural design, PLC
目 录
1 绪言-1
1.1 机械手的概述1
1.2 文献综述(国内现状与发展趋势)2
1.3 本课题设计要求3
2 机械手手部结构设计及计算5
2.1 手部结构5
2.2 机械手手抓设计计算6
2.3 夹紧液压缸的设计8
3 腕部结构的设计计算-10
3.1 腕部设计的基本要求及结构选择-10
3.2 腕部的设计计算-11
4 臂部的设计及有关的计算-15
4.1 手臂的设计要求-15
4.2 伸缩液压缸的设计-18
4.3 导向装置-20
5 机械手腰部和机座结构设计及计算-21
5.1 控制手臂上下移动的腰部液压缸的设计-21
5.2 机身回转液压缸的设计-22
5.3 导向装置和平衡装置的设计及细节说明-24
6 液动系统的设计-25
6.1 液压元件的选择及工作原理图-25
7 机械手的PLC控制系统设计-30
7.1 可编程逻辑控制器的选择及工作原理-30
7.2 可编程逻辑控制器应用系统设计与调试的主要步骤-31
7.3 机械手可编程序控制器控制方案-32
8 结论-37
参考文献-38
9 致谢-39
1 绪论
机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置，。最近几年里，随着电子技术尤其是计算机的广泛应用，机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术，它进一步推进了机械手的快速发展，使机械手能更好地实现将机械化、自动化和智能化的有机结合。机械手能代替人类完成危险、重复枯燥的工作，减轻人类劳动强度，提高劳动生产力。目前，在柔性制造系统FMS和柔性制造单元FMC中，机械手起到了至关重要的作用。当工件变更时，柔性生产系统很容易改变，有利于企业不断更新适销对路的品种，提高产品质量，更好地适应市场竞争的需要。而目前我国的工业机器人技术及其工程应用的水平和国外比还有一定的距离，应用规模和产业化水平低，机械手的研究和开发直接影响到我国自动化生产水平的提高，从经济上、技术上考虑都是十分必要的。因此，进行机械手的研究设计是非常有意义的。
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