基于PLC的数控送料机械手的设计.doc

PAGE I 基于PLC的数控送料机械手的设计 摘要 本课题所研究的机械手是为普通车床快速而高效上料而配套设计的一种功能型自动化机械装置。 简述了不同种类的机械手的用途和特点，对于经典的机械手的主要的参数做了简单的介绍；确定了本课题要求的机械手的主要的参数和最终的方案；选定了机械手的加持形式，对机械手的一系列动作做了分析。 针对送料机械手的设计要求，对于夹紧油缸的相关参数进行了计算；对机械臂的部的参数和型号进行了设计和确认，校核了扭矩，进而确定了回转油缸的参数；机械臂的伸长机构进行了设计，确定了驱动力，计算得出相应的液压油缸的尺寸和参数。针对不同用途的液压元件确定了相应电机的规格和参数；又对机械手各部分的液压系统的分析，设计各部分的工作示意图。明确了机械臂的动作和工作过程。以及电磁阀的动作顺序表。 应用PLC程序对机械手的控制方式进行了总体的设计，建立了机械手接线方式以及接线原理图，对机械手回原点程序、手动单步操作程序、自动操作程序进行了设计，能够顺利实现上行、下移、旋转等动作得到一个完整的控制方案。 根据实际的需求，综合考虑机械手的运动特性，确定机械手的定位方式为机械挡块定位；对于可能影响机械手的定位准确性和精度的因素进行了一定的分析；对机械手的缓冲装置进行了实用性的分析，确定了相关的参数。 关键词： PLC；机械手；自动抓取；AutoCAD PAGE XIV - - PAGE V Abstract The manipulator studied in this paper is a kind of functional automatic mechanical device which is designed for the fast and efficient feeding of the common lathe. The purpose and characteristics of different types of manipulator, for the main parameters of the manipulator classic is briefly introduced; determine the main parameters of the manipulator for the project and the final scheme; selected manipulator form a series of actions for blessing, do the analysis of the manipulator. According to the requirement of the design of the feeding manipulator, the related parameters of clamping cylinder are calculated; the mechanical arm of the parameters and models are designed and validated, and then check the torque parameter of rotary cylinder; elongation mechanism of mechanical arm was designed, determined the driving force, hydraulic calculation the corresponding cylinder size and parameters. According to the different use of hydraulic components to determine the specifications and parameters of the corresponding motor and the mechanical parts of the hydraulic system analysis, the design of each part of the work diagram. The movement of the manipulator and the working process are defined. Solenoid valve action sequence table. Application of PLC control method of manipulator for the overall design, established the mechanical hand wiring and wiring principle