气动机械臂设计说明书.docVIP

摘 要 本文简要介绍了工业机器人的概念，讲述了机械臂的分类与历史还有当今国内外的发展状况，机械臂硬件和软件的组成，即机械臂各个部件的整体尺寸设计与校核，气动技术的特点与优点，PLC控制的特点，PLC控制的气动机械臂系统工作原理。本文对机械臂进行总体的方案设计 确定了机械臂的坐标形式自由度机械臂的技术参数。 设计了机械臂的手臂结构，计算出了回转气缸的尺寸大小以及升气缸的大小，并对手臂伸缩气缸进行了选型和校核。 设计了机械臂的夹持式手部结构机械臂的手腕结构，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。 设计出了机械臂的气动系统，绘制了机械臂气压系统工作原理图。 分析了可编程控制器是如何来控制气动机械臂的运动与工作，利用可编程序控制器对机械手进行控制，做出了机械臂运动的流程图。 关键词：气动；工业机器人；机械臂；PLC。 Abstract This article briefly introduces the concept of industrial robots, telling the story of the classification of the mechanical arm and the historical and current development status at home and abroad, robot arm of hardware and software.The robot arm design and check the overall dimensions of the parts, the characteristics and advantages of pneumatic technology, PLC control, the characteristics of the working principle of PLC control system of pneumatic manipulator. In this article, the robot arm for the overall scheme design. Determining the coordinates of the mechanical arm forms，degrees of freedom, and the technical parameters of manipulator. Designing the manipulator arm structure, calculating the rotary cylinder size and the size of the lift cylinder, and the selection and checking of the telescopic cylinder and the arm . Designing holding type hand structure of mechanical arm and the robot arms wrist structure.Calculating the driving moment of the wrist when needed and driving moment of the rotary cylinder. Designing the pneumatic system of mechanical arm and the map of mechanical arm pressure system working principle. Because the mechanical arm is designed for general mechanical arm, analysis of the programmable logic controller is how to control the pneumatic motor and mechanical arm.We can make use of the programmable controller according to the need to write a different program to control the manipulator, finally making the mechanical arm movement flow chart. Key words: Air pressure drive; Industrial robot; Robot arm; Programmable Logic Controller. 目 录 要 III Abstract IV 目 录 V 1 绪