三自由度全液压机械手结构机械CAD图纸设计.doc

摘要 机械手是能复制相对于人的手臂的动作来取得固定的程序，或者自动操作物体设备的操作。为了人们的生产需要，机械手需要许多的工作设置，褚如手动和自动（包括单周期，单步骤，连续和自动返回到初始状态）的工作。在运动控制中，PLC可以用于控制一个线性运动或圆周性运动。所以，在使用PLC程序控制的，可以完成机械手应用程序的控制。这里的规模方案是指电磁阀动作的操作，每一个极限开关位置，周期的连续运转和精确性。关于液压驱动系统，为了避免过度使用三相异步电动机，而且它更可以提供过载保护。总体来说机械手，PLC，是一个集高效，安全，经济，实用的特点于一身的液压系统。 到目前为止，我主要介绍了设计进程开始具体工作： 本设计内容包括：机械手的夹持机构设计，液压系统设计，PLC的软件设计，PLC的硬件设计。 机械结构是由机械手油缸，螺丝，导致管组成的液压执行器等机械装备，可以任意伸缩的伸缩缸机械手，用旋转圆筒转动手腕，用缸架转动柱，用升降油缸动作的机械手，在货架上立柱可以用PLC控制电路中使用横向移动油缸，用于FX2N PLC的类型，当连续按下启动键后，PLC程序中指定的控制电磁阀的开关来控制机机械手的各个动作循环，当你反复按下停止按钮时，机械手操作的几个周期结束之后会停止运动。 关键词：液压机械手，液压控制回路，PLC Abstract Handling robot can mimic some of the actions and arm function to obtain a fixed program, or equipment operation means moving object automatic operation. In order to meet production needs, the robot needs a variety of work settings, such as manual and automatic (including continuous, single-cycle, single step and automatically returns to its initial state) work. In the motion control, PLC can be used to control a circular motion or linear motion. Therefore, the use of PLC program control can be achieved robot control applications. Scale program to make the operation of the solenoid valve operation, each of the limit switch position, cycle-accurate and continuous operation. Hydraulic drive systems for vehicles, in order to avoid the use of three-phase asynchronous motors, it has the advantage of preventing overload. Overall, robot, PLC, by an efficient, safe, economical and practical features hydraulic system. The design includes:Clamping mechanism designed robot, hydraulic system design, software design of PLC, PLC hardware design. Mechanical structure robot tanks, screws, causing the hydraulic actuator tubes, machinery and equipment, retractable telescopic cylinders of the robot arm, wrist rotation with a rotating cylinder with cylinder rotary-column, with the lift cylinder operation of the robot, the column on the shelf PLC The control circuit traversing cylinders used for FX2N PLC type, press the