数控机床自动上料机械手设计(2).doc

经典专科、本科、硕博、研究生、期刊毕业论文 仅供参考 精心整理 仅供参考 勿用作商业用途 数控机床自动上料机械手设计 摘 要 现代工业在科学技术日新月异快速发展的今天，已取得了很大的进步，而为了早日实现工业4.0，在当今工业制造体系中，原来由人工完成任务逐渐被机械装置所取代，这种情况使得机械手得以大范围使用。本文涉及一款圆柱型机械手的设计，主要应用于普通数控车床，机械手在电液混合驱动方式的作用下完成车床的自动上料、下料动作。本文主要内容在于对机械手的相关机械结构及运动控制方案进行设计并阐述了其运动控制方式。设计完成该款机械手具有完整的机械动作功能，这包括机械手爪的抓放动作、小臂的伸缩功能、大臂能进行升降及腰部能进行转动。机械手中手臂伸缩的相关直线运动的控制由液压缸完成，而腰部的转动动作是由步进电机与减速齿轮的组合来共同完成。机械手中相关运动方向的控制由液压电池阀来实现。同时机械手的控制单元使用PLC模块。而整个设计要构成一个完全的机电一体化系统，还需对PLC进行编程控制并完成外部连线。 关键词：机械手、电液混合驱动、PLC  Design of automatic upper and lower material manipulator of CNC lathe Abstract With the development of science and technology, modern industry with great development, in order to speed up the pace of industrial 4.0, in the modern industrial manufacturing, more use of mechanical equipment to replace human work, manipulator used more widely. This topic for the general numerical control lathe design of a cylindrical coordinates of the form of its upper and lower materials of the manipulator, the use of electro hydraulic hybrid drive. Mainly to the material at the end of the manipulator Executive Agency (PAW), arm, waist and other parts of the mechanical structure and motion scheme of the design and the control method are described. This for CNC lathe cutting manipulator can achieve the gripper clamping and relax, small arm stretching, arm lifting and rotation of the waist. Through the hydraulic cylinder to achieve the extension of the arm, such as linear motion, the use of stepper motor and gear to achieve the rotation of the waist. The use of hydraulic solenoid valve to control the direction of its movement. PLC is used as the control element of the machine hand of the upper and the lower material of the numerical control lathe. Through the preparation of the PLC program and the external connection to complete a complete mechanical and electrical integration system. Key words: mechanical hand, electro hydraulic hybrid drive, PLC 第一章 绪论 §1.1 选题背景和意义 科学技术的发展日新月异，这在相当大程度上改善了人们的生活，而人们获取资源的方式更趋于高效性，工业生产逐