具有触觉功能的机械手结构设计

河南科技大学本科毕业设计论文I毕业设计说明书Beyeshejishuomingshu地市：准考证号：姓名：河南省高等教育自学考试河南科技大学本科毕业设计论文II具有触觉功能的机械手结构设计摘要本文简要地介绍了工业机器人的概念，机械手的组成和分类，机械手的自由度和座标型式，气动技术的特点，PLC控制的特点及国内外的发展状况。本文对机械手进行了总体方案设计，确定了机械手的座标型式和自由度，确定了机械手的技术参数。同时，详细设计了机械手的夹持式手部结构;设计了机械手的手腕结构，计算出了手腕转动时所需的驱动力矩和回转气缸的驱动力矩;设计了机械手的手臂结构，设计了手臂伸缩。设计出了机械手的液压系统，绘制了机械手液压系统工作原理图。利用可编程序控制器对机械手进行控制，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，画出了机械手的工作时序图和梯形图，并编制了可编程序控制器的控制程序。关键词：机械手、液压缸、可编程序控制器（PLC）、压电传感器河南科技大学本科毕业设计论文IIIHAVINGTACTILEFUNCTIONSTRUCTUREDESIGNOFMECHANCAIHANDABSTRACTThispaperbrieflyintroducestheconceptofindustrialrobots,composingandclassificationofthemanipulator,thedegreesoffreedommanipulatorandthecoordinatetype,thecharacteristicsofpneumatictechnology,PLCcontrolcharacteristicsandthedomesticandforeigndevelopmentcondition.Inthispaper,themechanicalhandtheoverallschemedesign,themanipulatortodeterminethecoordinatesofthetypesanddegreesoffreedom,determinethetechnicalparametersofthemanipulator.Atthesametime,thedetaileddesignofthemanipulatorclampingtypestructureofhand;designedthestructureofrobotwrist,thewristtocalculatetherotationofthedrivingtorquerequiredandarotarycylinderdrivingtorque;thedesignofthemanipulatorarmstructure,designofthetelescopicarm.Designofmechanicalhandhydraulicsystem,renderingthemanipulatorhydraulicsystemprinciplediagram.Usingprogrammablecontrollertocontrolthemechanicalhand,theappropriateselectionofPLCmodels,accordingtothemanipulatorworkflowdevelopedprogrammablecontrollercontrolscheme,drawthemechanicalhandworksequencediagramandladderdiagram,andthepreparationofPLCcontrolprogram.KEYWORDS：Manipulator、Hydrauliccylinder、Programmablecontroller、Piezoelectricsensor河南科技大学本科毕业设计论文IV目录前言..............................................................................................................IV第1章机械手概况.............................................................错误!未定义书签。§1.1搬运机械手的应用简况...........................................错误!未定义书签。§1.2机械手的应用意义...................................................错误!未定义书签。§1.3机械手的发展概况...................................................错误!未定义书签。§1.4机械手的发展趋势.................................................................................4§1.5PLC概况及在机械手中的应用..............................................................5第2章机械手机构总体方案的设计.................................................................7§2.1机械手的基本结构.................................................................................7§2.2机械手的主要参数.................................................................................9第3章手部结构设计........................................................................................9§3.1手部设计基本要求.................................................................................9§3.2典型的手部结构..................................................................................10§3.3机械手手爪的设计计算.......................................................................10§3.4手爪的力学分析..................................................................................10§3.5夹紧力及驱动力的计算.......................................................................12§3.6手爪夹持范围的计算...........................................................................14§3.7机械手手爪夹持精度的分析计算.......................................................15第4章横向手臂的设计计算..........................................................................16§4.1伸缩臂设计基本要求...........................................................................16§4.2臂部的结构选择...................................................1错误!未定义书签。§4.3手臂伸缩驱动力的计算.......................................................................19§4.4手臂伸缩液压缸参数计算...................................................................21§4.5竖向液压缸的设计说明.......................................................................23第5章机身回转机构的设计..........................................................................23第6章液压控制设计......................................................................................24河南科技大学本科毕业设计论文V§6.1控制系统设计要求...............................................................................24§6.2控制流程..............................................................................................25第7章PLC控制设计.....................................................................................26§7.1PLC的构成及工作原理.......................................................................26§7.2PLC的选择...........................................................................................25§7.3程序设计..............................................................................................28§7.4指令表..................................................................................................25结论..............................................................................................................33参考文献...........................................................................................................34致谢..............................................................................................................35附录....................................