气动机械手升降臂结构设计，面板操纵式（有动力）点位示教部分控制软件设计.docVIP

题 目: 气动机械手升降臂结构设计，面板操纵式 （有动力）点位示教部分控制软件设计 摘要本文简要介绍了工业机器人的概念，机械手的组成和分类，气动技术的特点，PLC控制的特点及国内外的发展状况。本文对机械手进行总体方案设计，确定了机械手的技术参数。同时，设计了机械手的结构，设计了机械手的手部结构机械手的气动系统，对气压系统工作原理图的参数进行了，大大提高了绘图效率和图纸质量。利用可编程序控制器PLC）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，关键词工业机器人机械手气动可编程序控制器Abstract This thesis gives a brief introduction of the conception of industrial robot and domestic and overseas development of industrial robot, including components and categories of manipulator, the characteristics of the system of air pressure drive technique and PLC, and the features of touch screen calibration. This thesis makes a general designation and decides the technique parameter of manipulator. Meanwhile, it designs the elevator arm and Rotary arm structure of manipulator as well as the construction of the hand part. This thesis focus on the analyzing of the air pressure drive system of manipulator and the study of the air pressure system working principle diagram datum, which helps a lot to make a improvement in charting. With the help of PLC we attain the controlling of manipulator. In this thesis, I choose the proper type of PLC, work out the manipulation program of PLC controller according to the working progress of manipulator, and design the manipulation software of the manipulation of Control panel (Dynamic) - Point Demonstration part. Keywords: ?industrial robot; manipulator; air pressure drive; PLC; touch screen; Demonstration 目 录 摘要(中文) -----------------------------------------------------------I (英文) -----------------------------------------------------------II 第一章 绪 论 1.1工业机械手概述1.2机械手的组成和分类1.2.1机械手的组成1.2.2机械手的分类1.4国内外发展状况1.5课题的提出及主要任务1.5.1课题的提出1.5.2课题的主要任务第二章 机械手的设计方案2.1机械手的2.2机械手的驱动方案设计2.3机械手的控制方案设计2.4机械手的手部结构方案2.5 机械手的手臂结构方案设计2.6机械手的主要参数2.7机械手的技术参数列表第章手臂伸缩，升降回转气缸的设计与校核.1 夹持式手部结构 ------------------------------------------------------------ 9 3.1.1 手指的形状和分类 ------------------------------------------------------ 9 3.1.2 设计时注意的问题 ---------------------------------------