机械手设计（附CAD图纸）.rar

文档介绍：I 辽宁科技大学本科生毕业设计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,机械手的自由度和座标型式,气动技术的特点, PLC 控制的特点及国内外的发展状况。本文对机械手进行了总体方案设计,确定了机械手的座标型式和自由度,确定了机械手的技术参数。同时,分别设计了机械手的夹持式手部结构以及吸附式手部结构;设计了机械手的手腕结构,计算出了手腕转动时所需的驱动力矩和回转气缸的驱动力矩; 设计了机械手的手臂结构,设计了手臂伸缩、升降用液压缓冲器和手臂回转用液压缓冲器。设计出了机械手的气动系统,绘制了机械手气压系统工作原理图。利用可编程序控制器对机械手进行控制,选取了合适的 PLC 型号,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,画出了机械手的工作时序图和梯形图,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,可编程序控制器(PLC) II 辽宁科技大学本科生毕业设计 Design on the Currency Pneumatic Loading and Unloading Manipulator ABSTRACT Atfirst,the paper introduces the conception ofthe industrial robot and the elertary information ofthe development briefly. What's more,the paper accounts for background and the primary mission ofthetopic. The paper introduces the posing and classification ofthe manipulator,tells out the free-degree and the form the same time,the paper gives out the primary specification parameter ofthis manipulator. This paper designs the structure ofthe hand and the equipment ofthe drive ofthe manipulator,and analyzes the error ofthe orientation ofthe fingers . The paper designs the structure ofthe putes the needed moment ofthe drive when the wrist wheels and the moment ofthe drive of the pump .The paper designs the structure ofthe arm,and designs the hydraulic pressure buffer when the manipulator's arm flexes,ascend,descend and wheels . The paper designs the system ofair pressured rive and draws the work principle chai r. Themanipulator uses PLC paper institutes two controls chemes ofPLCacordine tothe work flow ofthe paper draws out the work tim esequence chart and the trapezia chart. What’smore,t hepaper wor kout the control program ofthe PLC . KEY WORDS industrial robot, manipulator, pump, PLC III 辽宁科技大学本科生毕业设计目录摘要.................................................................................................................................................................... I ABSTRACT ........................................................................