码垛机械手设计

河北理工大学成人教育毕业设计说明书（论文）11摘要机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。机械手技术涉及到力学、机械学、电器液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。本次毕业设计以“码垛机械手”作为设计课题，将先进的设计理念，先进的设计技术和方法相结合应用于传统产品的设计中，采用当今比较先进的设计软件。它需要完成将毛坯材料（直径80mm）从传送带上移到加工中心，再将加工好的零件放回传送带的任务。并且整个过程要求用PLC控制。通过对机械手在国内外的使用现状的介绍，以及它们在使用中存在的问题，对各种支护设备进行比较，从而确定设计方案和设计参数，进而对机械手进行受力分析和控制系统的设计，以确保它的可行性。为以后机械手的设计与改进提供了依据。关键词：机械手液压PLC设计河北理工大学成人教育毕业设计说明书（论文）22AbstractRobotsareakindofautomaticpositioningcontrolandcanbeprogrammedtochangetothemulti-functionmachine,itismorefreedom,andcanbeusedtocarryobjectstocompletetheworkindifferentenvironments.Robottechnologyinvolvesmechanics,mechanics,electrichydraulictechnology,automaticcontroltechnology,thesensortechnologyandcomputertechnology,science,isaninterdisciplinarycomprehensivetechnology.Thegraduationdesigninpalletizingrobotasadesigntopic,theadvanceddesignidea,methodandtechnologyofadvanceddesigncombinedapplicationoftraditionalproductdesign,thecomparisonofadvancedsoftwaredesigntoday.Itwillneedtocompleteblankmaterials(diameter80mm)fromtheconveyorbelttomachiningcenter,againwillbeprocessedpartsputbacktheconveyorbelt.AndthewholeprocessrequirementswithPLC.Throughtheuseofrobotsathomeandabroadareintroduced,andthecurrentproblemsexistingintheuseofvarioussupportingequipment,comparedtodeterminethedesignschemeanddesignparameters,thenanalyzesforcesofmanipulatorandthedesignofcontrolsystem,toensureitsfeasibility.Forthedesignandimprovementofthemanipulator.Keyword:ManipulatorHydraulicPLCDesign河北理工大学成人教育毕业设计说明书（论文）33目录第1章绪论···········································································································11.1工业机械手概述················································································································11.1.1机器人的定义············································································································11.1.2机械手概述················································································································21.2总体方案设计·····················································································································41.2.1平行夹持机构方案设计····························································································41.2.2平行四边形机构设计································································································41.2.3大臂设计方案············································································································51.2.4液压控制系统设计方案····························································································51.2.5PLC电控系统设计方案············································································61.3设计要求····························61.4我国工业机器人现状及发展趋势··················71.5国外机器人研究与发展趋势········································································9第2章夹持器的设计···························································································112.1夹持器的总体机构设计·······················112.2夹持器的结构计算及其说明·····················112.2.1设计要求····························112.2.2夹持器的设计计算························112.2.3运动部件的主要设计校核·····················122.3液压缸的选择···························142.3.1设计要求··························142.2.2液压缸的设计计算············································································14第3章平行四边形机构设计方案··········································································173.1四边形升降机构具体设计······················173.1.1设计目的及要求·························173.1.2设计参数····························173.1.3液压驱动的设计·························173.2具体设计计算与校核························173.2.1对BE杆的设计计算························18河北理工大学成人教育毕业设计说明书（论文）443.2.2研究CD杆件···························203.3平行四边形机构行程计算······················213.3.1平行四边形机构的简图······················213.4动态计算·····························223.4.1平行四边形机构动态计算·····················223.4.2底座回转时的动态计算······················243.4.3液压缸1运动时平行四边形机构的动态计算·············273.5带动平行四边形机构的液压缸2的设计与计算·············273.5.1液压缸2的行程计算······················27第4章液压控制系统的设计与计算·······································································334.1设计内容·····························334.2设计方案·····························334.3总体设计要求···························334.4液压回路设计···························344.5油泵的选择计算··························344.5.1油泵的选择计算·························344.5.2泵驱动电机的选择计算······················344.5.3液压阀的选择··························344.5.4辅助元件的选择·························354.5.5液压系统性能的验算·······················364.5.6液压系统图······························································································36第5章PLC控制系统设计·····················································································375.1PLC的构成及工作原理·······················375.2选择PLC·····························375.3PLC外部I/O分配图························375.4软件设计·····························395.5硬件设计·····································································································46第6章结论····································································