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)課程的學(xué)習(xí)，總結(jié)大學(xué)四年所學(xué)的知識(shí)，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，以及實(shí)際操作中的應(yīng)用情況，設(shè)計(jì)了一種圓柱坐標(biāo)形式的數(shù)控機(jī)床上下料機(jī)械手。重點(diǎn)針對(duì)機(jī)械手的手爪、手腕、手臂、腰座等各部分機(jī)械結(jié)構(gòu)以及機(jī)械手控制系統(tǒng)（傳動(dòng)系統(tǒng)、驅(qū)動(dòng)系統(tǒng)）進(jìn)行了詳細(xì)的設(shè)計(jì)。同時(shí)對(duì)其控制系統(tǒng)和液壓系統(tǒng)進(jìn)行了理論分析和設(shè)計(jì)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
Through the mechanical design, manufacturing and automation professional courses of study, summed up the four years of university studies the knowledge, the industrial robot mechanical structure and function of each part are discussed and analyzed, and the actual operation of the application, design a kind of cylindrical coordinate NC machine tool feeding manipulator. Focusing on the manipulator gripper, wrist, arm, waist seat and other parts of mechanical structure and control system of mechanical hand ( transmission system, driving system ) the detailed design. At the same time, the control system and hydraulic system are analyzed and the design calculation. PLC based on the control system of a manipulator to conduct in-depth and detailed design, through the mechanical hand operation process and control requirement analysis, the design of the control system hardware circuit, at the same time for manipulator control program. Design to achieve the expected goal.
[ Key words ]: manipulator; PLC; hydraulic servo system; electro-hydraulic system














目 錄
第一章 前言 - 1 -
1.1選題背景 - 1 -
1.2設(shè)計(jì)目的 - 1 -
1.3發(fā)展現(xiàn)狀和趨勢(shì) - 1 -
第二章機(jī)械手各部件的設(shè)計(jì) - 2 -
2.1機(jī)械手的總體設(shè)計(jì) - 2 -
2.1.1機(jī)械手總體結(jié)構(gòu)的類型 - 2 -
2.1.2具體采用方案 - 3 -
2.2機(jī)械手手爪結(jié)構(gòu)設(shè)計(jì) - 4 -
2.2.1設(shè)計(jì)要求 - 4 -
2.2.3典型結(jié)構(gòu) - 5 -
2.2.4具體設(shè)計(jì)方案 - 5 -
2.3機(jī)械手手腕結(jié)構(gòu)的設(shè)計(jì) - 6 -
2.3.1 手腕結(jié)構(gòu)的設(shè)計(jì)要求 - 6 -
2.4機(jī)械手手臂結(jié)構(gòu)的設(shè)計(jì) - 7 -
2.4.1手臂結(jié)構(gòu)的設(shè)計(jì)要求 - 7 -
2.4.2具體設(shè)計(jì)方案 - 7 -
2.5機(jī)械手腰座結(jié)構(gòu)的設(shè)計(jì) - 8 -
2.5.1腰座結(jié)構(gòu)的設(shè)計(jì)要求 - 8 -
2.5.2具體設(shè)計(jì)方案 - 8 -
2.6.1傳動(dòng)機(jī)構(gòu)設(shè)計(jì)應(yīng)注意的問(wèn)題 - 9 -
2.6.3具體設(shè)計(jì)方案 - 10 -
2.7機(jī)械手驅(qū)動(dòng)系統(tǒng)設(shè)計(jì) - 11 -
2.7.1常用驅(qū)動(dòng)系統(tǒng)及其特點(diǎn) - 11 -
2.7.2具體設(shè)計(jì)方案 - 11 -
2.8 機(jī)械手手臂的平衡機(jī)構(gòu)設(shè)計(jì) - 11 -
2.8.1平衡機(jī)構(gòu)的形式 - 11 -
2.8.2具體設(shè)計(jì)方案 - 12 -
3.1電機(jī)選型有關(guān)參數(shù)計(jì)算 - 12 -
3.1.1有關(guān)參數(shù)的計(jì)算 - 12 -
3.1.2電機(jī)型號(hào)的選擇 - 15 -
3.2液壓傳動(dòng)系統(tǒng)設(shè)計(jì)計(jì)算 - 16 -
3.2.1確定液壓系統(tǒng)基本方案 - 16 -
3.2.2擬定液壓執(zhí)行元件運(yùn)動(dòng)控制回路 - 17 -
3.2.3液壓源系統(tǒng)的設(shè)計(jì) - 18 -
3.2.4繪制液壓系統(tǒng)圖 - 18 -
3.2.5確定液壓系統(tǒng)的主要參數(shù) - 19 -
3.2.6計(jì)算和選擇液壓元件 - 24 -
第4章 機(jī)械手控制系統(tǒng)的設(shè)計(jì) - 25 -
4.1硬件設(shè)計(jì) - 25 -
4.1.1操作面板布置 - 25 -
4.1.2工藝過(guò)程與控制要求 - 26 -
4.1.3作業(yè)流程 - 26 -
4.1.4控制器的選型 - 28 -
4.1.5控制系統(tǒng)原理分析 - 28 -
4.1.6 PLC外部接線設(shè)計(jì) - 29 -
4.1.7 I/O地址分配 - 29 -
4.2軟件設(shè)計(jì) - 31 -
4.2.1控制主程序流程圖 - 31 -
結(jié) 論 - 32 -
致 謝 - 33 -
參考文獻(xiàn) - 34 -