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兰州工业学院毕业设计（论文）1兰州工业学院毕业设计（论文）任务书机电工程学院机电一体化技术专业设计题目搬运机械手设计及PLC控制学生姓名班级起止日期指导教师李宝栋年月日兰州工业学院毕业设计（论文）21.毕业设计的原始数据：[1]论文所用相关资料从校图书馆书籍或网上下载获得；[2]数据资料由教师根据生产实践提供。2.毕业设计(论文)的内容和要求(包括技术要求、图表要求以及工作要求等)：设计一搬运机械手，满足下列技术要求，绘制各主要零件图和装配图，并采用S7-200PLC进行控制。[1]末端载荷：5KG[2]自由度数：4[3]坐标形式：圆柱坐标[4]最大工作半径：1500mm[5]手臂最大中心高：800mm[6]手臂伸缩速度750mm/s，手臂升降速度250mm/s，手臂回转速度110º／s，手腕回转速度360º/s[7]手臂伸缩行程范围0~500mm，手臂升降行程范围最大0～100mm，手臂回转行程范围0º~220º[8]定位方式：行程开关或可调机械挡块等[9]定位精度：mm1[10]驱动方式：液压驱动[11]控制方式：点位程序控制（采用PLC）3.毕业设计应完成的技术文件：[1]撰写设计说明书；[2]装配图、各主要零件图（一套）；[3]PLC接线图以及其它相关设备的电气图。4.主要参考文献：[1]李允文.工业机械手设计.北京：机械工业出版社,1996.4[2]濮良贵，纪名刚.机械设计.北京：高等教育出版社,2001[3]陆祥生，杨绣莲.机械手.北京：中国铁道出版社,1985.1[4]张建民.工业机械人.北京：北京理工大学出版社,1992兰州工业学院毕业设计（论文）35.毕业设计(论文)进度计划(以周为单位)：起止日期工作内容备注第1周（12月9日～12月15日）第2～4周（12月16日～12月29日）第5周（12月30日～1月5日）第6～7周（1月6日～1月19日）查阅相关资料，确定设计总方案，完成相关设计计算绘制装配图、各主要零件图PLC控制部分设计及调试撰写设计说明书教研室审查意见：教研室主任年月日学院审查意见：学院院长年月日兰州工业学院毕业设计（论文）4摘要在现代工业中，生产过程的机械化，自动化已成为突出的主题。化工等连续性生产过程的自动化已基本得到解决。专用机床是大批量生产自动化的有效的办法；控制机床、数控机床、加工中心等自动化机械是有效地解决多品种小批量生产自动化的重要办法。但除切削加工本身外，还有大量的装卸、搬运、装配等作业，有待于进一步实现机械化,工业机械手就是为实现这些工序的自动化而生产的。机械手是能够模仿人体上肢的部分功能，可以对其进行自动控制使其按照预定要求输送制品或操持工具进行生产操作的自动化生产设备。自上世纪六十年代，PLC设计的机械手被实现为一种产品后，对它的开发应用也在不断发展，它可以在减轻繁重的体力劳动、改善劳动条件和安全生产；提高生产效率、稳定产品质量、降低废品率、降低生产成本、增强企业的竞争力等方面起到及其重要的作用。关键字：机械手PLC现代工业兰州工业学院毕业设计（论文）5ABSTRACTAbstract:Inmodernindustry,theproductionprocessofmechanization,automationhasbecomeaprominenttheme.Continuityofthechemicalproductionprocessofautom\ationhasbeenbasicallyresolved.Dedicatedhigh-volumeproductionautomatedmachinetoolsisaneffectiveway;controlledmachinetools.However,inadditiontocuttingitsown,therearealotofloadingandunloading,transportation,assembly,andotheroperationstobefurthermechanized.Accordingtothedata,PLCrobotwasdesignedtoachieveaproduct,ithasbeenthedevelopmentandapplicationdevelopment,themosttypicalofthisdevelopmentaretheproducersofhealthproductsusedinindustry,inordertoachievethemuch-neededhealthinspectioninashortperiodoftime,alargenumberofsampledata,butinthefieldofhealthasaresultoftheuseofrobotgoodsinasinglesample-colorreagentmethod,usingfiltersandstructuraldesign,resultinginexpensivereagents,restrictionsTheproductmarket.Withtheadvancesintechnology,therobothasactuallybrokenthedesignofasinglereagent,andheatingthefilterconstraints.Keyword:robotPLCmodernindustrial兰州工业学院毕业设计（论文）6目录摘要··································4ABSTRACT································5目录···································61绪论·································91.1前言································91.2工业机械手在生产中的应用·····················101.2.1建造旋转零件（转轴、盘类、环类）自动线···········111.2.2在实现单机自动化方面····················111.2.3铸、锻、焊热处理等热加工方面················111.3机械手的组成···························111.4.1执行机构··························121.4.2驱动机构··························131.4.3控制系统及其分类······················131.5工业机械手的分类·························131.6工业机械手的发展趋势·······················141.7工业机械手的自由度和座标型式···················151.8工业机械手的展望·························161.9本文主要研究内容·························181.10本章小结····························182机械手的总体设计方案·····················192.1机械手基本形式的选择·······················192.2机械手的主要部件及运动······················192.3驱动机构的选择··························202.4机械手的技术参数列表·······················202.5本章小结·····························213机械手手部的设计计算·····················223.1手部设计基本要求·························223.2典型的手部结构··························223.3机械手手抓的设计计算·······················223.3.1选择手抓的类型及夹紧装置··················223.3.3夹紧力及驱动力的计算····················243.3.4手抓夹持范围计算······················253.4机械手手抓夹持精度的分析计算···················26兰州工业学院毕业设计（论文）73.5弹簧的设计计算··························273.6本章小结·····························294腕部的设计计算·························304.1腕部设计的基本要求························304.2腕部的结构以及选择························304.2.1典型的腕部结构·······················304.3腕部的设计计算··························304.2.2腕部结构和驱动机构的选择··················304.3.1腕部设计考虑的参数·····················314.3.3腕部驱动力的计算······················314.3.4液压缸盖螺钉的计算·····················334.3.5动片和输出轴间的连接螺钉··················344.4本章小结·····························355臂部的设计及有关计算·····················365.1臂部设计的基本要求························365.2手臂的典型机构以及结构的选择···················375.2.1手臂的典型运动机构·····················375.2.2手臂运动机构的选择·····················375.3手臂直线运动的驱动力计算·····················375.3.1手臂摩擦力的分析与计算···················375.3.2手臂惯性力的计算······················395.3.3密封装置的摩擦阻力·····················395.4液压缸工作压力和结构的确定····················405.5本章小结·····························416机身的设计计算·························426.1机身的整体设计··························426.2机身回转机构的设计计算······················426.3机身升降机构的计算························476.3.1手臂偏重力矩的计算·····················476.3.2升降不自锁条件分析计算···················486.3.3手臂做升降运动的液压缸驱动力的计算·············496.4轴承的选择分析··························506.5本章小结·····························50（···································507PLC及其应用····························517.1PLC的概念····························51兰州工业学院毕业设计（论文）87.2PLC的组成····························517.3PLC工作原理及其特点·······················53（四）PLC的应用········