盘类零件装卸机械手设计 机械毕业设计.doc

盘类零件装卸机械手设计
系(部):机电与自动化学院
专业班:机械电子工程
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20 年月
盘类零件装卸机械手设计
The Design of Loading and unloading manipulator for Dish Kind Parts
摘要
随着工业自动化发展的需要,工业机械手在工业应用中越来越重要。文章主要叙述了盘类零件装卸机械手设计计算过程。
首先,本文介绍机械手的作用,机械手的组成和分类。文章中介绍了盘类零件装卸机械手设计理论与方法。全面详尽的讨论了盘类零件装卸机械手的手部、腕部、手臂以及机身等主要部件的结构设计。对机械手进行总体方案设计,确定了机械手的坐标形式和自由度,确定了机械手的技术参数。同时,设计了机械手的夹持式手部结构,设计了机械手的手腕结构,计算出了手腕转动时所需的驱动力矩和回转气缸的驱动力矩。设计了机械手的手臂结构。设计出了机械手的气动系统,绘制了机械手气压系统工作原理图,大大提高了绘图效率和图纸质量。利用可编程序控制器对机械手进行控制,选取了合适的可编程序控制器(PLC)型号,根据机械手的工作流程制定了可编程序控制器的控制方案,画出了机械手的工作时序图,并绘制了可编程序控制器的控制程序。
关键词:工业机器手可编程序控制器(PLC) 驱动力矩
Abstract
With the development needs of industrial automation, mechanical hand more and more important in industrial applications. This paper mainly describes the disk parts handling robot design and calculation process.
First, the article describes the role of the robot position and classification. Article describes the disk parts handling robot design theory and methods. Comprehensive and detailed discussion of the disk parts handling robot hand, wrist, arm and body and other ponents of the structural design. The manipulator to the overall design, to determine the coordinates of the manipulator forms and degrees of freedom to determine the technical parameters of the manipulator. At the same time, the design of the robot hand gripper-type structure, design structure of the manipulator's wrist, the wrist rotation to calculate the torque required and torque of rotating cylinders. Designed manipulator pneumatic system, pneumatic system to draw the work of the manipulator schematic, greatly improving the efficiency of drawing and drawing quality. The programmable logic controller to control the manipulator, select the appropriate PLC type, according to the workflow robot developed PLC control program, draw a timing diagram of the work manipulator and a programmable control drawing with control procedures.
Key words:Industrial robot Programmable logic controller(PLC) Driving torque
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