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本科毕业设计上下料冲压机械手的设计学院机械工程学院专业机械设计制造及其自动化学号4112020623学生姓名庄申指导教师周清泉/袁永超提交日期2016年5月4日编码2016-JXSJ专业代码080202-201诚信承诺书本人郑重承诺和声明:我承诺在毕业论文撰写过程中遵守学校有关规定,恪守学术规范,此毕业论文(设计)中均系本人在指导教师指导下独立完成,没有剽窃、抄袭他人的学术观点、思想和成果,没有篡改研究数据,凡涉及其他作者的观点和材料,均作了注释,如有违规行为发生,我愿承担一切责任,接受学校的处理,并承担相应的法律责任。毕业论文（设计）作者签名：年月日I摘要上下料冲压机械手是根据实际冲压生产过程中的特点，专门为提高生产效率，解放人力等而研制的一种自动化机械设备。本文在查阅了有关机械手方面的资料之后，简单介绍了其作用、组成和分类。根据课题要求对机械手进行了总体方案设计，确定了机械手的坐标型式、运动自由度以及机械手的技术参数。根据对机械手手部、腕部、手臂以及机身等结构的设计计算得出数据，并且通过三维软件solidworks绘制出产品模型，最后对机械手的结构进行完善。同时，绘制了机械手气压系统工作原理图，选取了合适的零部件；利用PLC对机械手进行控制，选取了合适的PLC型号；根据机械手的工作流程制定了可编程序控制器的控制方案，画出了的机械手的操作流程图。关键词：机械手；参数设计；软件模拟；PLC方案控制IIABSTRACTUp-downmaterialcharacteristicsintheprocessofstampingmanipulatorisbasedontheactualproduction,speciallyinordertoimprovetheproductionefficiency,humanliberationandsoonanddevelopedanautomatedmachineryandequipment.Basedonthesearchafterreadinginformationaboutmanipulator,simplyintroducesthefunction,compositionandclassification.Overalldesignofmanipulatorinaccordancewiththerequirementsofproject,todeterminethecoordinatesofthemanipulator,degreesoffreedomofmovementandtechnicalparametersofthemanipulator.Accordingtothemanipulatorhand,wrist,arm,andthefuselagestructuredesignandcalculationoftheobtaineddata,andthrough3Dsoftwaresolidworkstomaptheproductmodel,andfinallytoimprovethestructureofthemanipulator.Atthesametime,drawthemanipulatorworkingprincipleofthepneumaticsystemdiagram,selecttheappropriatecomponents.UsingPLCtocontrolthemanipulator,selectedthesuitablePLCmodel;Accordingtotheworkingprocessofthemanipulatormadethecontrolschemeofprogrammablecontroller,drawtheoperationflowchartofthemanipulator.KeyWords：manipulator;Parameterdesign;Softwaresimulation;PLCprogramcontrolIII目录1绪论...........................................................................................................................11.1机械手概述...........................................................................................................11.2机械手的组成.......................................................................................................11.3国内外发展概况...................................................................................................31.4本章小结...............................................................................................................42机械手总体设计方案....................................................................错误!未定义书签。2.1执行部分的选择...................................................................................................52.2驱动部分的选择...................................................................................................62.3控制方案的确定...................................................................................................62.4机械手的基本形式选择.......................................................................................72.5机械手主要部件及运动.......................................................................................72.6机械手的技术参数...............................................................................................82.7本章小结...............................................................................................................83执行机构的设计...........................................................................................................93.1手腕部分的设计...................................................................................................93.1.1手腕处轴承的选择.....................................................................................93.1.2手腕驱动伺服电机与减速器的选择.........................................................93.1.3传动同步带的选择与相应带轮的设计...................................................103.1.4手腕部分小结...........................................................................................113.2手臂伸缩部分的设计.........................................................................................123.2.1直线导轨与滑块的选择...........................................................................123.2.2传动同步带选择与相应带轮的设计.......................................................153.2.3伺服电机的选择与传动带轮的设计.......................................................153.2.4手臂伸缩部分小结...................................................................................163.3手臂升降部分的设计.........................................................................................173.3.1滚珠丝杠的选择.......................................................................................173.3.2伺服电机的选择.......................................................................................193.3.3光轴与直线轴承的选择...........................................................................203.3.4手臂升降部分小结...................................................................................203.4手臂旋转部分的设计.........................................................................................213.4.1转盘轴承的选择.......................................................................................213.4.2伺服电机的选择以及减速比的确定.......................................................213.4.3手臂旋转部分小结................................................................