毕业设计（论文）-自动装配生产线机械手设计.doc

毕业设计毕业设计中文摘要 自动化装配生产线机械手设计 摘要: 随着社会的发展和工业技术水平的不断进步，机械手在生产中得到广泛应用。工业机械手是近代自动控制领域中出现的一项新技术，它的发展是由于其积极作用正日益为人们所认识：它能部分地代替人工操作；能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；能制作必要的机具进行焊接和装配。它大大改善工人的劳动条件，显著地提高劳动生产率，促进了工业生产的自动化。本课题设计一种应用于工业生产装配线中的机械手，能代替人完成装配的﹑能自动控制的﹑多功能的﹑多自由度的工业机器人。它的整个结构由执行机构﹑驱动部分﹑控制系统等组成。执行机构方面该机械手由6个自由度组成：腕部回转，小臂伸缩，小臂俯仰，腰部回转，大臂升降，纵向移动。采用液压驱动，并采用omron公司的plc产品进行控制。 关键词： 机械手 6自由度 自动化 装配 毕业设计外文摘要 Title Automated manipulator for assembly line Abstract With the social development and the continuous progress of industrial technology, manipulator has been widely used in production. Modern automatic control of industrial robots is a field of a new technology. Because a positive development effects are becoming increasingly recognized: it is able to partly replace the manual operation; in accordance with production requirements, and directed by certain procedures, time and location to transfer or handle the workpieces. It is also e the necessary equipment for welding and assembly. It has greatly improved the working conditions of workers, and significantly raised labor productivity, and promoted the automation of industrial production. This subject is about a manipulator used in production assembly line to complete assembly work. It is automatic controlled with multi-function, multi-degree of freedom .Its entire structure consists of the implementing agencies, drive system, control system and other components. The robot is formed by the six degrees of freedom: Wrist rotation, telescopic arm, arm pitching, waist rotating, boom lifting and longitudinal movement. It is hydraulic driven, controlled by programmable logic controller. Keywords： manipulator automation six degree-of-freedom assembly  目 次 1 绪论 …………………………………………………………………………………1 1.1 概述 ………………………………………………………………………………1 1.2 装配线机械手的定义及组成 ……………………………………………………………1 1.3 装配线机械手在生产中的应用……………………………………………………2 1.4 装配线机械手的发展方向…………………………………………………………3 1.5 本章小结……………………………………………………………………………3