四自由度上料液压传动机械手设计 毕业论文.doc

摘 要 在机械制造业中，机械手已被广泛应用，大大地改善了工人的劳动条件，显著地提高劳动生产率，加快了实现工业生产机械化和自动化的步伐。 本文通过对机械手的组成和分类，及国内外的发展状况的了解，对本课题任务进行了总体方案设计。确定了机械手用四个自由度和圆柱坐标型式。设计了机械手的夹持式手部结构；以及设计了机械手的总体结构，以实现机械手伸缩，升降，两个回转四个自由度及手爪的开合。驱动方式由液压缸来实现手臂伸缩和升降，手臂旋转和手腕旋转。 运用了FX 系列可编程序控制器（PLC）对上下料机械手进行控制, 论述了电气控制系统的硬件设计, 控制软件结构以及手动控制程序和自动控制程序的设计。 关键词：机械手，液压缸，可编程序控制器 Abstract In mechanical manufacturing industry, manipulator has been applied extensively so that the labor condition of worker has been greatly improved , labor productivity raised notably, the step of industrial production mechanization and automation realized rapidly. This article through to manipulators composition and the classification, and the domestic and foreign development conditions understanding, has carried on the overall concept design to this topic duty. Had determined the manipulator uses four degrees-of-freedom and the circular cylindrical coordinate pattern. Designed manipulator gripper-type hand structure; and design of the overall structure of the mechanical hand to realize the mechanical hand stretching, lifting, turning two of four degrees of freedom, and the opening and closing gripper. Driven approach to achieve by the hydraulic cylinder and lift arm stretching, arm rotation and wrist rotation. The paper illustrates that the control of the upper and lower material by means of the PLC and also includes the hardware design of the electric control system, the control software structure and the design of the manual and automatic control program. Key words: manipulator, Hydraulic cylinder, PLC 目 录 1.绪言4 1.1机械手的概述4 1.2国内外机械手的现状与发展趋势5 1.3本课题设计要求6 2.机械手手部结构设计及计算7 2.1手部结构7 2.2机械手手抓设计计算7 2.3夹紧液压缸的设计10 2.4弹簧的设计计算11 3.腕部的设计计算14 3.1腕部设计的基本要求14 3.2腕部的结构以及选择14 3.3腕部的设计计算14 4.臂部的设计及有关的计算19 4.1手臂的设计要求19 4.2伸缩液压缸的设计19 4.3导向装置23 5.机械手腰部和机座结构设计及计算24 5.1结构设计24 5.2控制手臂上下移动的腰部液压缸的设计24 5.3导向装置27 5.4平衡装置27 5.5机身回转机构的设计27 6.液动系统的设计29 6.1液压传动工作原理图29 7.机械手的PLC控制系统设计31 7.1可编程序控制器的选择及工作过程31 7.2可编程序控制器的使用步骤32 7.3机械手可编程