毕业设计(论文)－具有触觉功能的机械手结构设计.docVIP

摘要 河南科技大学本科毕业设计论文 PAGE IV PAGE 35 毕业设计说明书 Beyeshejishuomingshu 地 市： 准考证号： 姓 名： 河南省高等教育自学考试 前言 具有触觉功能的机械手结构设计 摘 要 本文简要地介绍了工业机器人的概念，机械手的组成和分类，机械手的自由度和座标型式，气动技术的特点，PLC控制的特点及国内外的发展状况。 本文对机械手进行了总体方案设计，确定了机械手的座标型式和自由度，确定了机械手的技术参数。同时，详细设计了机械手的夹持式手部结构;设计了机械手的手腕结构，计算出了手腕转动时所需的驱动力矩和回转气缸的驱动力矩;设计了机械手的手臂结构，设计了手臂伸缩。 设计出了机械手的液压系统，绘制了机械手液压系统工作原理图。利用可编程序控制器对机械手进行控制，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，画出了机械手的工作时序图和梯形图，并编制了可编程序控制器的控制程序。 关键词：机械手、液压缸、可编程序控制器（PLC）、压电传感器 HAVING TACTILE FUNCTION STRUCTURE DESIGN OF MECHANCAI HAND ABSTRACT This paper briefly introduces the concept of industrial robots, composing and classification of the manipulator, the degrees of freedom manipulator and the coordinate type, the characteristics of pneumatic technology, PLC control characteristics and the domestic and foreign development condition. In this paper, the mechanical hand the overall scheme design, the manipulator to determine the coordinates of the types and degrees of freedom, determine the technical parameters of the manipulator. At the same time, the detailed design of the manipulator clamping type structure of hand; designed the structure of robot wrist, the wrist to calculate the rotation of the driving torque required and a rotary cylinder driving torque; the design of the manipulator arm structure, design of the telescopic arm. Design of mechanical hand hydraulic system, rendering the manipulator hydraulic system principle diagram. Using programmable controller to control the mechanical hand, the appropriate selection of PLC models, according to the manipulator workflow developed programmable controller control scheme, draw the mechanical hand work sequence diagram and ladder diagram, and the preparation of PLC control program. KEY WORDS：Manipulator、Hydraulic cylinder、Programmable controller、Piezoelectric sensor 目　录 TOC \o 1-3 \h \z HYPERLINK \l _Toc168494217 前　言 PAGEREF _Toc168494217 \h 1 HYPERLINK \l _To