5 圆柱坐标机械手设计.docxVIP

STYLEREF 标题 目录 ABSTRACT 基于DCT的JPEG基本系统的MATLAB实现 摘要 本文研究了机械手的发展概况、各类机械手的组成以及各类坐标形式的机械手。机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置，它是在机械化、自动化生产过程中发展起来的一种新型装置。以圆柱坐标机械手为例，该机构有三个自由度，两个直线运动和一个旋转运动。两个直线运动均采用液压传动——横梁液压缸水平方向的移动和升降液压缸的垂直运动，机械手部选用移动式齿轮齿条手部来实现对工件的抓取；旋转运动采用齿轮齿条的结构形式，通过对齿条的驱动实现立柱的回转，控制系统使用PLC进行控制。可以实现对工件的抓取并对工件进行转移。设计完成的机构实现条件简单，整体结构紧凑，可以替代人手的繁重劳动，是车间机械手的简化机构，用于生产车间的话可以显著减轻工人劳动强度，提高劳动生产率和自动化水平。 关键词：圆柱坐标式；三自由度；机械手 ；PLC ABSTRACT This paper studies the development of manipulator, the composition of various kinds of manipulators and the manipulators of various coordinate forms. Manipulator is an automatic device with the function of crawling and moving workpiece used in the process of automatic production, which is a new type of device developed in the process of mechanization and automatic production. In the case of a cylindrical coordinate manipulator, the mechanism has three degrees of freedom, two linear motion and a rotational motion. Two linear motion are hydraulic transmission-cross-beam hydraulic cylinder horizontal direction of the movement and lifting hydraulic cylinder vertical movement, the manipulator selection of mobile gear rack hand to achieve the grasp of the workpiece; rotating motion adopts the structure form of gear rack, through the drive of the rack to realize the rotation of the column, the control system uses PLC to control. It is possible to crawl the workpiece and transfer the workpiece. The design of the completed mechanism to achieve simple conditions, compact overall structure, can replace the heavy labor of the staff, is the workshop manipulator simplification mechanism, used in the production workshop words can significantly reduce the labor intensity of workers, improve labor productivity and automation level. Keywords: cylindrical coordinate type; three degrees of freedom; manipulator；PLC 目录 IV III 目录 TOC \o 1-3 \h \z \u 摘要 II ABSTRACT III 目录 V 第1章 绪论 1 1.1 本课题的研究内容和意义 1 1.2 国内外的发展概况 1 1.3 本课题应达到的要求 1 第2章 总体