机械手-FMC料搬运机械手设计-说明书.docVIP

摘 要 本课题是为完成车间搬运工作而设计的搬运机械手。机械手是工业生产的必然产物，它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的自动化技术设备，对实现工业生产自动化，推动工业生产的进一步发展起着重要作用。因而具有强大的生命力受到人们的广泛重视和欢迎。 本课题的机械手是采用气压传动装置，PLC控制机械手，它的基本作用是从指定位置抓取工件运送到另一个指定的位置。主要完成的是气压传动式机械手臂的结构方面设计，以及用PLC软件进行简单的控制编程设计，使机械手具备手爪张合；手部回转；手臂伸缩；手臂回转；手臂升降5个主要运动。 机械手分别采用了两个直线气缸，一个摆动气缸和滚珠丝杠来实现以上5个运动。对于机械手准确、高效的工作是当今生产上一个具有很现实意义的课题，于是利用步进电机滚珠丝杠来控制机械手的手臂升降运动，达到了定位精度较高的效果。 关键词：机械手，PLC(可编程控制器)，步进电机，滚珠丝杠副 ABSTRACT The issue is supporting the workshop designed carrying manipulator. Industrial machinery hand is the inevitable product of industrial production, which is a part of imitating human upper limb function, scheduled in accordance with the requirements of transportation tools Hold the workpiece or the operation of automation technology equipment, the realization of industrial automation, and promote the further development of industrial production plays an important role. Hence, it has strong vitality by the extensive attention of the people and welcome. This subject is adopted pneumatic transmission device robot manipulator, PLC control, basic function of it from the designated position grab workpiece to another location. The main type of mechanical arm pneumatic transmission is the structure design, and the use of PLC control software programming design, make robots have hand piece; hand again; arm expansion; turning arm; arm movements of five main movement. Robots are used for the two straight cylinder, a swing cylinder and ball screw to achieve the above five movement. For manipulator is accurate and efficient work today in a production of practical significance, and using the step-motor ball screw to control the movement of the manipulator arm positioning accuracy, high effect. Key words: manipulator, Programmable Logic Controller, step-motor, ball screw assembly 目 录 1 绪论--------------------------------------------------------------------------------------------------------------------1 1.1机器人的起源--------------------------------