毕业设计（论文）-工业机械手设计论文.doc

摘要
在当今大规模制造业中,企业为提高生产效率,保障产品质量,普遍重视生产过程的自动化程度,工业机械手作为自动化生产线上的重要成员,逐渐被企业所认同并采用。通过对机械设计制造及其自动化专业大学本科四年的所学知识进行整合,对工业机械手各部分机械结构和功能的论述和分析,设计了一种圆柱坐标形式的数控机床上下料机械手。重点针对机械手的腰座、手臂、手爪等各部分机械结构以及机械手控制系统进行了详细的设计。主要包括三个方面:机械手腰部,大臂,小臂,手爪的结构设计;液压系统设计;PLC控制部分的设定。
关键词:机械手;液压系统;PLC控制
Abstract
In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, manipulators gradually approved and adopted by enterprises. Integrate the knowledge of the past four years’ of undergraduate course of Machine, discuss and analysis the each part and function of manipulator; design a kind of Cylindrical coordinates manipulator used to pack and unload work piece C machine tools. In particular, make the detailed design about base, arm, and hand claw and the control system etc. There are mainly three aspects in the design: The structure design of base, arm, forearm and hand claw ; The design of The hydraulic system ;The setting of PLC control.
Keywords: Manipulator; Structure; Hydraulic system; PLC control

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(手爪)的结构设计 12
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PLC外部接线设计 43
I/O地址分配 44
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结论 47
参考文献 48
致谢 50
附录1英文文献译文 51
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附录2程序 66

机械手是能模仿人手和臂的某些动作功能,用以按固定程序抓取、搬运物件或操作工具的自动操作装置。机械手是最早出现的工业机器人,也是最早出现的现代机器人,它可代替人的繁重劳动以实现生产的机械化和自动化。近年来,随着电子技术特别是电子