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畢業(yè)設(shè)計(jì)（論 文）
關(guān)節(jié)式自動(dòng)上下料機(jī)械手設(shè)計(jì)
（PLC控制）
學(xué)生姓名：
郭 嘉 文
學(xué) 號(hào)：
0515011202
所在系部：
機(jī)械工程系
專業(yè)班級(jí)：
05機(jī)制（二）班
指導(dǎo)教師：
王海濤（副教授）
日 期：
二○○九年六月
摘 要
通過(guò)對(duì)機(jī)械設(shè)計(jì)制造及其自動(dòng)化專業(yè)大學(xué)本科四年的所學(xué)知識(shí)進(jìn)行整合，對(duì)工業(yè)機(jī)械手各部分機(jī)械結(jié)構(gòu)和功能的論述和分析，設(shè)計(jì)了一種圓柱坐標(biāo)形式的自動(dòng)上下料機(jī)械手。重點(diǎn)針對(duì)機(jī)械手的立柱、手臂、手爪等各部分機(jī)械結(jié)構(gòu)以及機(jī)械手控制系統(tǒng)進(jìn)行了詳細(xì)的設(shè)計(jì)。具體進(jìn)行了機(jī)械手的總體設(shè)計(jì)，立柱結(jié)構(gòu)的設(shè)計(jì)，機(jī)械手手臂結(jié)構(gòu)的設(shè)計(jì)，機(jī)械手腕部的結(jié)構(gòu)設(shè)計(jì)，末端執(zhí)行器（手爪）的結(jié)構(gòu)設(shè)計(jì)，機(jī)械手的機(jī)械傳動(dòng)機(jī)構(gòu)的設(shè)計(jì)，機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)。同時(shí)對(duì)液壓系統(tǒng)和控制系統(tǒng)進(jìn)行了理論分析和計(jì)算?；赑LC對(duì)機(jī)械手的控制系統(tǒng)進(jìn)行了深入細(xì)致的設(shè)計(jì)，通過(guò)對(duì)機(jī)械手作業(yè)的工藝過(guò)程和控制要求的分析，設(shè)計(jì)了控制系統(tǒng)的硬件電路，同時(shí)編制了機(jī)械手的控制程序。設(shè)計(jì)達(dá)到了設(shè)計(jì)的預(yù)期目標(biāo)。
關(guān)鍵詞：機(jī)械手 PLC 液壓伺服定位 電液系統(tǒng)
Abstract
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 cylinderical coordinate manipulator used to pack and unload work piece for CNC machine tools. In particular, made the detailed design about base, arm, and end effector and the control system etc. including Total design, waist’s construction design, the arm’s construction design, the wrist’s construction design, the end effector’s construction design, and the drive system of manipulator. At the same time, analysis and compute the hydraulic pressure system and control system. Deeply design the manipulator’s control system, which based on PLC. After analysis about the craft process and the requests of the manipulator, the hardware circuit and the control program of the manipulator then is designed. In a word, the design of the manipulator has come to the anticipant object.
Keyways: Manipulator PLC Hydraulic servo control Electrohydraulic system
目 錄
摘要 Ⅰ
Abstract................................... Ⅱ
1 緒 論 1
1.1 選題背景............................................................1
1.2 設(shè)計(jì)題目............................................................2
1.3 國(guó)內(nèi)外研究現(xiàn)狀和趨勢(shì)................................................2
1.4 設(shè)計(jì)原則............................................................3
2 機(jī)械手設(shè)計(jì)方案的論證.....................................................4
2.1 機(jī)械手的總體設(shè)計(jì)...................................................4
2.1.1 機(jī)械手總體結(jié)構(gòu)類(lèi)型................................................5
2.1.2 具體設(shè)計(jì)采用方案..................................................5
2.2 機(jī)械手腰座結(jié)構(gòu)的設(shè)計(jì)...............................................6 2.2.1 機(jī)械手腰座結(jié)構(gòu)的設(shè)計(jì)要求.........................................6
2.2.2 設(shè)計(jì)具體采用方案.................................................7
2.3 機(jī)械手手臂的結(jié)構(gòu)設(shè)計(jì)...............................................7
2.3.1 機(jī)械手手臂的設(shè)計(jì)要求..............................................7
2.3.2 設(shè)計(jì)具體采用方案..................................................8
2.4 機(jī)械手腕部的結(jié)構(gòu)設(shè)計(jì)................................................9
2.4.1 機(jī)器人手腕結(jié)構(gòu)的設(shè)計(jì)要求..........................................9
2.4.2 設(shè)計(jì)具體采用方案.................................................10
2.5 機(jī)械手末端執(zhí)行器（手爪）的結(jié)構(gòu)設(shè)計(jì).................................11
2.5.1 機(jī)械手末端執(zhí)行器的設(shè)計(jì)要求.......................................11
2.5.2 機(jī)器人夾持器的運(yùn)動(dòng)和驅(qū)動(dòng)方式.....................................12
2.5.3 機(jī)器人夾持器的典型結(jié)構(gòu)...........................................13
2.5.4 設(shè)計(jì)具體采用方案.................................................13
2.6 機(jī)械手的機(jī)械傳動(dòng)機(jī)構(gòu)的設(shè)計(jì).........................................14
2.6.1 工業(yè)機(jī)器人傳動(dòng)機(jī)構(gòu)設(shè)計(jì)...........................................14
2.6.2 工業(yè)機(jī)器人常用的傳動(dòng)機(jī)構(gòu)形式.....................................15
2.6.3 設(shè)計(jì)具體采用方案.................................................19
2.7 機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)..............................................19
2.7.1 機(jī)器人各類(lèi)驅(qū)動(dòng)系統(tǒng)的特點(diǎn).........................................19
2.7.2 工業(yè)機(jī)器人驅(qū)動(dòng)系統(tǒng)的選擇原則.....................................20
2.7.3 機(jī)器人液壓驅(qū)動(dòng)系統(tǒng)...............................................21
2.7.4 機(jī)器人氣動(dòng)驅(qū)動(dòng)系統(tǒng)...............................................22
2.7.5 機(jī)器人電動(dòng)驅(qū)動(dòng)系統(tǒng)..............................................24
2.7.6 設(shè)計(jì)具體采用方案................................................27
2.8 機(jī)器人手臂的平衡機(jī)構(gòu)設(shè)計(jì)..........................................28
2.8.1 機(jī)器人平衡機(jī)構(gòu)的形式............................................28
2.8.2 設(shè)計(jì)具體采用的方案..............................................28
3設(shè)計(jì)計(jì)算和理論分析........................................................29
3.1 液壓傳動(dòng)系統(tǒng)設(shè)計(jì)計(jì)算...............................................29
3.1.1 確定液壓系統(tǒng)基本方案.............................................29
3.1.2 擬定液壓執(zhí)行元件運(yùn)動(dòng)控制回路.....................................30
3.1.3 液壓源系統(tǒng)的設(shè)計(jì).................................................30
3.1.4 繪制液壓系統(tǒng)圖...................................................32
3.1.5 確定液壓系統(tǒng)的主要參數(shù)...........................................33
3.1.6 計(jì)算和選擇液壓元件...............................................38
3.1.7 液壓性能演算....................................................40
3.2 電機(jī)選型有關(guān)參數(shù)計(jì)算..............................................40
3.2.1 有關(guān)參數(shù)的計(jì)算...................................................40
3.2.2 電機(jī)型號(hào)的選擇...................................................43
4 機(jī)械手控制系統(tǒng)硬件設(shè)計(jì) 45
4.1機(jī)械手控制系統(tǒng)硬件設(shè)計(jì)..............................................45
4.1.1機(jī)械手工藝過(guò)程與控制要求..........................................45
4.1.2機(jī)械手的作業(yè)流程..................................................45
4.1.3機(jī)械手操作面板布置................................................46
4.1.4控制器的選型......................................................47
4.1.5控制系統(tǒng)原理分析..................................................48
4.1.6 I/O地址分配......................................................50
4.2機(jī)械手控制系統(tǒng)軟件設(shè)計(jì)..............................................50
4.2.1機(jī)械手控制主程序流程圖............................................50
4.2.2機(jī)械手控制程序設(shè)計(jì)................................................51
4.2.3機(jī)械手PLC程序語(yǔ)..................................................53
5 技術(shù)經(jīng)濟(jì)性分析..........................................................57
結(jié)論.......................................................................58
致謝.......................................................................59
參考文獻(xiàn) 60
附錄1......................................................................62
附錄2......................................................................72