毕业论文（设计）四自由度机械手结构设计及其PLC控制.docVIP

摘要 随着工业快速发展，机械手在机械加工制造、装配及包装等自动生产线上得到普遍应用。机械手是一种能模仿实现人手部分功能，并能按编写程序进行搬运物料或抓取工件、操作工具等的装置；其对推动工业自动化生产发展起着重要作用。 本设计的机械手主要用于配合机床床上下料、搬运等用途；其采用液压驱动、PLC控制、圆柱坐标结构,具有四个自由度，其可分别实现抓取传送带的物料及手腕旋转、手臂旋转、手臂升降及伸缩等功能。本机械手涉及到机械手结构设计、机械手动作的PLC控制设计。结构部分：手爪选用滑槽杠杆驱动机构的二指回转型;手腕及手臂选用回转缸驱动实现回转功能；手臂伸缩和机身升降是通过采用导向杆导向及花键轴导向，确保机械手运动精度；将回转缸置于机身立柱的升降缸上，使结构更紧凑。控制部分：根据机械手的用途，通过编写特定的PLC梯形图程序，实现机械手自动、手动及单周期运转的功能。 本文的设计重点是机械手各个部分液压缸结构尺寸的计算，确定其主要的技术参数；根据本机械手用途，设计特定的PLC梯形图，实现机械手自动、手动及单周期运转功能。并绘制零件设计图、CAD装配图、液压原理图、三维造型、模拟仿真、PLC相关程序。 关键词：机械手；液压驱动；结构设计；PLC控制设计 Four degrees of freedom manipulator structure design and PLC control Student: LV jin-cheng Teacher: SUN Jin-rong Abstract:With the rapid industrial development, manipulator in machinery manufacturing, assembly and packaging such as the widely used on the automatic production line. Manipulator is a kind of can imitate people part functions, and can according to written procedure for handling materials or grab workpiece, operating tools of device; It play an important role to promote the development of industrial automation production. The design of the manipulator is mainly used in matching machine tool bed up-down material, handling purposes; The PLC control, hydraulic drive, cylindrical coordinates structure, has four degrees of freedom, the materials can be realized respectively the scraping of the conveyor belt and wrist rotation, rotating, lifting and telescopic arm, and other functions. This involves the manipulator structure design, mechanical movement of manipulator PLC control design. Structural parts: hand claw choose chute lever is held back to drive mechanism transformation; Wrist and arm choose rotary cylinder driven rotary functions; Arm scaling and fuselage lift is by means of guide bar and spline shaft guidance, to ensure that the manipulator movement accuracy; Puts the rotary cylinder fuselage pillar lift cylinder, make the structure more compact. Control part: according to the purpose of the