机械5

三自由度圆柱坐标平面关节型自动上下料的气动机械手设计 摘要 随着我国科学技术的不断突破、制造业的快速发展以及改革开放带来的市场竞争的加剧，企业在如何提高生产效率、保证产品质量和降低生产成本等问题上采取了大量措施，自动化和机械化在现代企业中普遍应用，这为机械手的广泛运用奠定了基矗机械手利用机械技术、人工智能技术、控制技术、传感器技术以及计算机技术，达到模仿人手和臂、实现某些动作功能的目的，机械手可以按照设置好的程序完成抓取动作、搬运物件或操作工具，特别是与数控车床、加工中心组合使用，不仅提高了柔性制造系统的加工效率，而且将人从反复、单一的工作中解脱出来，降低了人工成本，保证了产品质量。 随着对生态环境的重视和科学技术的突破，气动技术获得了迅速发展，同时气压传动系统相比于液压传动系统以及传统的电传动系统，介质提取处理方便、成本低，动作迅速、反应灵敏，使用安全、可靠，同时工作环境适应性强，可以在人难以承受的恶劣环境下工作，比如高温、震动、易燃、易爆、多尘埃、强磁、辐射等，可以完成不同环境下的作业要求，并保证工作质量，这些优点使机械手广泛应用于各个领域。而气动机械手是气压传动控制的机械手，作为机械手的一种，不仅具备机械手的基本优点，同时还兼备气动控制的特质，具有结构简单、动作迅速、平稳可靠、可控性好、易实现复杂动作等优点，因此将气动机械手与自动化生产线结合并进行有效应用的设计研究是十分重要的。 本课题是在数控车床和加工中心基础上而设计的一种示教型自动上下料机械手，此机械手主要与数控车床组合，实现加工过程的自动化，即由机械手完成上料-加工-下料整个生产节拍的过程。此机械手具有结构简单，易于拆装、组合的特点，同时通过驱动系统和控制系统的设计，实现加工过程的模拟，加深学生对专业知识的理解。 关键词:自动化；上下料；机械手；气压传动；PLC Abstract With the co
nti
nuous breakthrough i
n scie
nce a
nd tech
nology, the rapid developme
nt of the ma
nufacturi
ng i
ndustry a
nd the i
nte
nsificatio
n of market competitio
n brought by the reform a
nd ope
ni
ng up, a large
number of measures have bee
n take
n to improve the productio
n efficie
ncy, guara
ntee the quality of the products a
nd reduce the cost of productio
n. Automatio
n a
nd mecha
nizatio
n arewidely used i
n the prese
nt ge
neratio
n e
nterprises. This is a mecha
nical ha
nd. The exte
nsive use of the fou
ndatio
n is laid. The ma
nipulator uses mecha
nical tech
nology, artificial i
ntellige
nce tech
nology, co
ntrol tech
nology, se
nsor tech
nology a
nd computer tech
nology to achieve the purpose of imitati
ng the ha
nds a
nd arms a
nd realizi
ng certai
n actio
n fu
nctio
ns. The ma
nipulator ca
n carry out the graspi
ng, ha
ndli
ng, or operati
ng tools accordi
ng to the set program, especiallywith the CNC lathe a
nd the machi
ni
ng ce
nter. Combi
ned use,
not o
nly improves the processi
ng efficie
ncy of the flexible ma
nufacturi
ng system, but also relieves people from repeated a
nd si
nglework, reduces the labor cost a
nd e
nsures the quality of the product. With the atte
ntio
n to the ecological e
nviro
nme
nt a
nd the breakthrough of scie
nce a
nd tech
nology, the p
neumatic tech
nology has developed rapidly. At the same time, comparedwith the hydraulic tra
nsmissio
n system a
nd the traditio
nal electric tra
nsmissio
n system, the p
neumatic tra
nsmissio
n system is co
nve
nie
nt, low cost, quick actio
n, se
nsitive reactio
n, safe a
nd reliable operatio
n, a
nd adaptability ofworki
ng e
nviro
nme
nt. Stro
ng, it ca
nwork u
nder u
nbearable e
nviro
nme
nt, such as high temperature,vibratio
n, flammable, explosive, dust, stro
ng mag
netism, radiatio
n a
nd so o
n. It ca
n fulfill the job requireme
nts u
nder differe
nt e
nviro
nme
nt a
nd guara
ntee the quality ofwork. These adva
ntages make the ma
nipulatorwidely used i
nvarious fields. P
neumatic ma
nipulator is a mecha
nical ha
nd co
ntrolled by p
neumatic tra
nsmissio
n. As o
ne of the mecha
nical ha
nd, it
not o
nly has the basic adva
ntages of the ma
nipulator, but also has the characteristics of p
neumatic co
ntrol. It has the adva
ntages of simple structure, quick actio
n, stable a
nd reliable, good co
ntrollability a
nd easy realizatio
n of complex actio
n. The desig
n a
nd research of combi
ni
ng productio
n li
neswith effective applicatio
n isvery importa
nt. This topic is a ki
nd of teachi
ng type automatic up a
nd dow
n ma
nipulator desig
ned o
n the basis of CNC lathe a
nd machi
ni
ng ce
nter. This ma
nipulator is mai
nly combi
nedwith
numerical co
ntrol lathe to realize the automatio
n of the processi
ng process, that is, the ma
nipulator completes the process of the overall productio
n of the feedi
ng, processi
ng a
nd cutti
ng. This ma
nipulator has the characteristics of simple structure, easy disassembly a
nd combi
natio
n. At the same time, through the desig
n of the drivi
ng system a
nd co
ntrol system, the simulatio
n of processi
ng process is realized, a
nd the stude
nts' u
ndersta
ndi
ng of professio
nal k
nowledge is deepe
ned. Keywords: automatio
n; loadi
ng a
nd u
nloadi
ng; ma
nipulator; p
neumatic tra
nsmissio
n; PLC 目录 第1章绪论1 1.1选题背景1 1.2设计目的1 1.3发展现状和趋势1 第2章机械手的组成3 2.1执行机构3 2.2.1手部3 2.1.2腕部3 2.1.3手臂4 2.1.4行走机构4 2.1.5机座4 2.2驱动系统4 2.3控制系统5 2.4位置检测系统5 第3章机械手总体设计6 3.1主要技术参数6 3.2主要部件及其运动7 3.3总体结构设计8 第4章手部设计9 4.1确定手部结构9 4.2手部驱动力计算9 4.3手部夹紧力的计算10 4.4手部夹紧缸的设计计算11 4.4.1夹紧缸主要尺寸的计算11 4.4.2缸体结构及验算12 4.4.3活塞杆的设计计算13 第五章手臂的设计15 5.1手臂结构的设计15 5.1.1气缸的校核16 5.1.2活塞杆的计算16 5.1.3缸筒壁厚的选择19 5.2手臂整体结构图20 第6章机身的设计21 6.1设计时注意的问题21 6.2机身的升降回转运动22 6.2.1机身升降运动22 6.2.2机身回转运动22 6.2.3气压升降缸设计计算23 6.2.4气压摆动缸设计计算25 6.3机身整体结构图30 第7章气压系统设计30 7.1气压系统简介30 7.2气压系统方案设计31 7.3气压系统的控制回路设计31 第8章机械手PLC控制系统设计31 8.1机械手的工艺过程31 8.2机械手工作流程33 8.3 PLC控制系统程序设计35 8.3.1机械手动作顺序表35 8.3.2现场器件与PLC内部继电器对照表36 8.3.3 PLC接线图36 8.4.4梯形图37 8.4.5指令程序表39 结论40 谢辞41 参考文献42