摘要


隨著工業(yè)自動(dòng)化發(fā)展的需要，機(jī)械手在工業(yè)應(yīng)用中越來(lái)越重要。文章主要敘述了機(jī)械手的設(shè)計(jì)計(jì)算過程 。
首先，本文介紹機(jī)械手的作用，機(jī)械手的組成和分類，說明了自由度和機(jī)械手整體座標(biāo)的形式。同時(shí)，本文給出了這臺(tái)機(jī)械手的主要性能規(guī)格參量。機(jī)械手采用液壓傳動(dòng)，使傳動(dòng)系統(tǒng)簡(jiǎn)單可靠；選用可編程控制器對(duì)機(jī)械手的動(dòng)作進(jìn)行控制，使控制程序簡(jiǎn)單，系統(tǒng)維護(hù)方便。設(shè)計(jì)過程中，對(duì)機(jī)械手和液壓缸部分做了詳細(xì)的設(shè)計(jì)計(jì)算。同時(shí)，對(duì)機(jī)械手的通用性主要是采用可更換式手部結(jié)構(gòu)來(lái)實(shí)現(xiàn)，通過更換手部，可使機(jī)械手抓取外圓零件和內(nèi)圓零件，從而實(shí)現(xiàn)了系統(tǒng)的多功能化。機(jī)械手總體結(jié)構(gòu)能夠?qū)崿F(xiàn)手臂的水平伸縮、垂直升降、旋轉(zhuǎn)和抓取等功能，這些動(dòng)作都是可編程控制器控制，用液壓缸驅(qū)動(dòng)機(jī)械手來(lái)完成的。
文章中介紹了搬運(yùn)機(jī)械手的設(shè)計(jì)理論與方法。全面詳盡的討論了搬運(yùn)機(jī)械手的手部、腕部、手臂以及機(jī)身等主要部件的結(jié)構(gòu)設(shè)計(jì)。
最后使用軟件對(duì)機(jī)械手PLC控制仿真。

關(guān)鍵詞：機(jī)械手；液壓傳動(dòng)；液壓缸；PLC仿真；



















Abstract

The applying of the manipulators are more and more important in the industry, with the development of industrial automation. The paper mainly narrated the design and calculation of light and transfer manipulator.
The first，The paper introduces the function,composing and classification of the manipulator,tells out the free-degree and the form of coordinate.At the same time,the paper gives out the primary specification parameter of this manipulator. Manipulator use hydraulic drive so the transmission system can be simple and reliable. The manipulator and hydraulic cylinder are detailed introduction in this paper. The movements of mechanical hands are controlled by programmable controller which procedures are simple and the system maintenance can be convenient. And the universal ability of manipulator is based on the interchangeability of the hand’s structure. Manipulator can grasp cylindrical parts and inner parts through the replacement of hand so system is multifunctional. Manipulator overall structure achieves some functions of the level expands and contracts, the vertical fluctuation and captures the semifinished materials. All those movements are controlled by programmable controller and realized by hydraulic cylinders.
This article system elaboration industry manipulator's design theory and method. The comprehensive exhaustive discussion has transported manipulator's hand, the wrist, the arm ，the fuselage and so on ,which the major structural design computation.
Finally uses the software to carry out the PLC control simulation for manipulator's hand.

Keywords: manipulator; hydraulic power transmission；Hydraulic cylinder；Programmable logic Controller simulation;


目錄
1 緒論 1
1.1前言 1
1.2 工業(yè)機(jī)械手的簡(jiǎn)史 1
1.3工業(yè)機(jī)械手在生產(chǎn)中的應(yīng)用 3
1.4 機(jī)械手的組成 4
1.5工業(yè)機(jī)械手的發(fā)展趨勢(shì) 5
2 機(jī)械手的總體設(shè)計(jì)方案 7
2.1 機(jī)械手基本形式的選擇 7
2.2機(jī)械手的主要部件及運(yùn)動(dòng) 7
2.3驅(qū)動(dòng)機(jī)構(gòu)的選擇 8
2.4 機(jī)械手的技術(shù)參數(shù)列表 8
3 機(jī)械手手部的設(shè)計(jì)計(jì)算 9
3.1 手部設(shè)計(jì)基本要求 9
3.2 典型的手部結(jié)構(gòu) 9
3.3機(jī)械手手抓的設(shè)計(jì)計(jì)算 9
3.4 機(jī)械手手抓夾持精度的分析計(jì)算 13
3.5彈簧的設(shè)計(jì)計(jì)算 14
4 腕部的設(shè)計(jì)計(jì)算 17
4.1 腕部設(shè)計(jì)的基本要求 17
4.2 腕部的結(jié)構(gòu)以及選擇 17
4.3 腕部的設(shè)計(jì)計(jì)算 18
5 臂部的設(shè)計(jì)及有關(guān)計(jì)算 23
5.1 臂部設(shè)計(jì)的基本要求 23
5.2 手臂的典型機(jī)構(gòu)以及結(jié)構(gòu)的選擇 24
5.3 手臂直線運(yùn)動(dòng)的驅(qū)動(dòng)力計(jì)算 24
5.4 液壓缸工作壓力和結(jié)構(gòu)的確定 27
6 機(jī)身的設(shè)計(jì)計(jì)算 29
6.1 機(jī)身的整體設(shè)計(jì) 29

6.2 機(jī)身回轉(zhuǎn)機(jī)構(gòu)的設(shè)計(jì)計(jì)算 30
6.3 機(jī)身升降機(jī)構(gòu)的計(jì)算 34
6.4 軸承的選擇分析 37
7 液壓驅(qū)動(dòng)系統(tǒng)設(shè)計(jì) 38
7.1液壓驅(qū)動(dòng)的特點(diǎn) 38
7.2液壓系統(tǒng)設(shè)計(jì) 39
8 PLC控制系統(tǒng)設(shè)計(jì) 40
8.1 PLC的特點(diǎn) 40
8.2 PLC的選擇及I/O分配 40
8.3 PLC程序設(shè)計(jì)及仿真 42
結(jié)論 50
致謝 51
參考文獻(xiàn) 52
附錄 53