搬运机械手的设计-论文(完整版).doc

PAGE III PAGE I 摘 要 TOC \o 1-3 \h \z \u 随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手的应用也逐渐普及，主要在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运, 可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。 搬运机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，在本设计中，通过对机械手手部结构的设计，臂部结构的设计，以及液压系统的设计，实现四自由度的运动，完成了搬运机械手的系统结构设计。 关键词：搬运机械手；结构设计；液压系统；四自由度  PAGE III PAGE III ABSTRACT With the popularization and development of industrial automation, control demand increased year by year, carrying manipulator application also gradually popular, mainly in the automotive, electronics, machinery, food, medicine and other fields of production lines or cargo transport, can be better to save energy and improve the efficiency of transport equipment or products, in order to reduce other handling the limitation and inadequacy, meet the needs of modern economic development. Manipulator is a kind of automatic positioning control and can be programmed to change the multi-function machines, In this design, through the mechanical hand arm structure design, structure design, and the design of the hydraulic system, to achieve four degrees of freedom movement,completed the manipulator system structure design. Key words：manipulator；structure design ；hydraulic system ；four degrees of freedom movement PAGE 目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc318633828 摘 要 PAGEREF _Toc318633828 \h I HYPERLINK \l _Toc318633829 ABSTRACT PAGEREF _Toc318633829 \h II HYPERLINK \l _Toc318633830 1 绪论 PAGEREF _Toc318633830 \h 1 HYPERLINK \l _Toc318633831 1.1设计背景 PAGEREF _Toc318633831 \h 1 HYPERLINK \l _Toc318633832 1.2机械手简介 PAGEREF _Toc318633832 \h 1 HYPERLINK \l _Toc318633833 1.2.1机械手的发展概况 PAGEREF _Toc318633833 \h 1 HYPERLINK \l _Toc318633834 1.2.2机械手的应用意义 PAGEREF _Toc318633834 \h 2 HYPERLINK \l _Toc318633835 1.2.3搬运机械手的应用简况 PAGEREF _Toc318633835 \h 3 HYPERLINK \l _Toc318633836 1.2.4机械手的发展趋势 PAGEREF _Toc318633836 \h 4 HYPERLINK \l _Toc318633837 1.3 PLC概况及在机械手中的应用 PAGEREF _Toc318633837 \h 4 HYPERLINK \l _Toc318633838 1.4 设计目的 PAGEREF _To