文档介绍：毕业设计(论文)说明书
题目: 拾取轴类零件机械手的设计
作者: 学号:
系(院): 机械工程系
专业班级: 机械设计制造及其自动化
指导者:
评阅者:
毕业设计(论文)中文摘要
拾取轴类零件机械手的设计
摘要:本文简要地介绍了工业机器人的概念,机械手的组成和分类,机械手的自由度和坐标型式,气动技术的特点,PLC控制的特点及国内外的发展状况。通过对机械手进行总体方案设计,确定了机械手的坐标型式和自由度,确定了机械手的技术参数。同时,设计了利用气压传动系统来实现机械手夹持的手部结构并选择了一种较好的夹持方案;通过对手腕、手臂转动所需的驱动力矩的计算设计了机械手腕、手臂的结构并实现了利用步进电动机对手腕手臂的控制。利用可编程序控制器对机械手进行控制,选取了合适的PLC,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,设计了机械手的步进电动机控制电路图,并编制了可编程序控制器的控制程序。
关键词:工业机器人机械手气动可编程序控制器
毕业设计(论文)外文摘要
The Design of Mechanical Hand Picking up Accessories Like Axes
Abstract: The paper introduces the conception of the industrial robot, position and classification of the mechanical hand, the freedom and coordinates of the mechanical hand, the characteristics of the pneumatic technology and PLC, and the development in home and abroad.
In this paper, author discussed the overall project for the design of mechanical hand, and determined the coordinates of patterns, freedom and technical parameters of the mechanical hand. At the same time, used the pneumatic drive system to realize the holding structure of the mechanical hand and selected a better project to hold accessories. Through the calculations to drive moment needed by the wrists and arm rotation, designed the structure of the wrists and arm and realized the control to the wrists and arm by electric motors. Author also used programmable controller to control mechanical hand and selected a suitable PLC models. Based on mechanical hand workflow, developed PLC project and drawn a control circuit diagram of electric motors for the mechanical hand, and developed a program for the PLC.
Keywords: industrial robot; mechanical hand; pneumatic drive; PLC.
目录
1 引言(或绪论)…………………………………………………………………………… 1
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2 制定设计方案……………………………………………………………………………… 4
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