机械5

悬挂式助力机械真空吸盘手抓的设计 摘要 工业机器人由操作机(机械本体)、控制器、伺服驱动系统和检测传感装置构成，是一种仿人操作，自动控制、可重复编程、能在三维空间完成各种作业的机电一体化自动化生产设备。特别适合于多品种、变批量的柔性生产。它对稳定、提高产品质量，提高生产效率，改善劳动条件和产品的快速更新换代起着十分重要的作用。 机械手在机械加工、冲压、铸、锻、焊接、热处理、电镀、喷漆、装配、轻工业、交通运输业等方面得到越来越广泛的应用。本文的机械手用于搬运物料，在本文中介绍它的组成和分类、自由度和座标型式、气动技术的特点及国内外的发展状况，对机械手进行总体方案设计，确定机械手的座标型式和自由度，确定机械手的技术参数，设计机械手的手臂结构，设计出机械手的气动系统，绘制机械手气压系统工作原理图。利用可编程序控制器对机械手进行控制，选取合适的PLC型号，根据机械手的工作流程制定可编程序控制器的控制方案，画出机械手的工作时的顺序功能图和梯形图，并编制可编程序控制器的控制程序。 关键词：机械手设计；物料搬运；气动； Abstract The i
ndustrial robot is composed of the operati
ng machi
ne(mecha
nical body), the co
ntroller, the servo drive system a
nd the detectio
n a
nd se
nsi
ng device. It is a ki
nd of huma
noid operatio
n, automatic co
ntrol, repeatable programmi
ng, a
nd the mecha
nical a
nd electrical i
ntegratio
n automatio
n productio
n equipme
nt that ca
n completevarious operatio
ns i
n the three-dime
nsio
nal space. It is especially suitable for flexible productio
n of multiplevarieties a
nd batches. It plays avery importa
nt role i
n stabilizi
ng, improvi
ng product quality, improvi
ng productio
n efficie
ncy, improvi
ng labor co
nditio
ns a
nd upgradi
ng products. The ma
nipulator is becomi
ng more a
nd morewidely used i
n mecha
nical processi
ng, stampi
ng, casti
ng, forgi
ng,weldi
ng, heat treatme
nt, electroplati
ng, spray pai
nti
ng, assembly, light i
ndustry, tra
nsportatio
n a
nd tra
nsportatio
n. I
n this paper, the ma
nipulator is used to carry the material. I
n this paper, the compositio
n a
nd classificatio
n of the ma
nipulator, the degree of freedom a
nd coordi
nates, the characteristics of the p
neumatic tech
nology a
nd the developme
nt status at home a
nd abroad are i
ntroduced i
n this paper. The overall pla
n of the ma
nipulator is desig
ned, the coordi
nate type a
nd the degree of freedom of the ma
nipulator are determi
ned, the tech
nical parameters of the ma
nipulator are determi
ned a
nd the ha
nd of the ma
nipulator is desig
ned. The structure of ma
nipulator is desig
ned, a
nd the p
neumatic system of ma
nipulator is desig
ned, a
nd theworki
ng pri
nciple of ma
nipulator p
neumatic system is plotted. The programmable co
ntroller is used to co
ntrol the ma
nipulator, select the appropriate PLC model, draw up the co
ntrol scheme of the programmable co
ntroller accordi
ng to theworki
ng process of the ma
nipulator, draw the seque
nce fu
nctio
n diagram a
nd ladder diagram of the ma
nipulatorworki
ng, a
nd compile the co
ntrol program of the programmable co
ntroller. Keywords: ma
nipulator desig
n; material ha
ndli
ng; p
neumatic; 目录 摘要1 Abstract 2 第一章、绪论4 1.1选题背景4 1.2设计目的5 1.3发展现状和趋势6 1.4工作原理及组成6 1.5机械手的应用与发展7 1.6研究内容8 第二章、总体设计9 2.1技术参数9 2.2工作原理分析9 2.3助力机械手方案设计10 第三章、真空吸盘的设计11 3.1动力学分析11 3.2真空吸盘的选取11 3.3真空发生器设计12 3.4其他元器件选用13 第四章、助力机械手系统设计15 4.1工作原理15 4.2运动分析15 4.3臂部设计16 4.3.1结构的选择17 4.3.2驱动力计算17 4.3.3工作压力和结构的确定19 4.3.4尺寸参数21 第五章、PLC简介22 5.1PLC简介22 5.2PLC发展趋势23 5.3PLC的结构和工作原理24 5.3.1PLC的组成24 5.3.2PLC程序的表达方式26 5.3.3PLC的工作方式27 第六章、技术经济分析31 6.1需求分析31 6.2控制系统的经济特点31 结论34 致谢35 参考文献40