冲床上下料气动机械手的设计

I冲床上下料气动机械手的设计摘要机械手在机械加工、冲压、铸、锻、焊接、热处理、电镀、喷漆、装配、轻工业、交通运输业等方面得到越来越广泛的应用。本文的机械手用于冲床上下料，介绍它的组成和分类、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，对机械手进行总体方案设计，确定机械手的座标型式和自由度，确定机械手的技术参数，设计机械手的手臂结构，设计出机械手的气动系统，绘制机械手气压系统工作原理图。利用可编程序控制器对机械手进行控制，选取合适的PLC型号，根据机械手的工作流程制定可编程序控制器的控制方案，画出机械手的工作时的顺序功能图和梯形图，并编制可编程序控制器的控制程序。关键词：机械手设计；冲床上下料；气动；PLCIPunchdischargingpneumaticmanipulatordesignAbstractMechanicalhandinmachining,stamping,casting,forging,welding,heattreatment,plating,painting,assemblyandlightindustry,transportationindustryhasbeenmoreandmorewidelyapplied.Inthispaper,themechanicalhandforpunchingbaiting,introducesitscompositionandclassification,degreeoffreedomandcoordinatetype,thecharacteristicsofpneumatictechnology,PLCcontrolcharacteristicsandthedomesticandforeigndevelopmentconditionofthemanipulator,theoverallschemedesign,themanipulatortodeterminethecoordinatetypeanddegreeoffreedom,identifyingthemechanicalthetechnicalparameters,thedesignofthemanipulatorarmstructure,designofmanipulatorpneumaticsystem,renderingthemanipulatorpneumaticsystemworkingprinciplediagram.Usingprogrammablecontrollertocontrolthemechanicalhand,theappropriateselectionofPLCmodels,accordingtothemanipulatorworkflowdevelopedprogrammablecontrollercontrolscheme,drawthemechanicalhandworkorderfunctiondiagramandladderdiagram,andthepreparationofPLCcontrolprogram.Keywords:Designofmanipulator;Punchblanking;Pneumatic;PLCI目录1前言............................................................................................................................11.1选题背景............................................................................................................11.2设计目的................................................................................错误！未定义书签。1.3发展现状和趋势................................................................................................11.4机械手的系统工作原理及组成........................................................................22机械手各部件的设计................................................................................................22.1机械手的总体设计............................................................................................22.1.1机械手总体结构的类型.............................................................................22.2机械手手爪结构设计........................................................................................32.2.1设计要求.....................................................................................................32.2.2驱动方式.....................................................................................................32.2.3典型结构.....................................................................................................42.2.4具体设计方案.............................................................................................52.3机械手手臂结构的设计....................................................................................52.3.1手臂结构的设计要求.................................................................................52.3.2具体设计方案.............................................................................................52.4机械手腰座结构的设计....................................................................................62.4.1腰座结构的设计要求.................................................................................62.4.2具体设计方案.............................................................................................62.5机械手驱动系统设计........................................................................................62.5.1常用驱动系统及其特点.............................................................................62.5.2具体设计方案.............................................................................................72.6机械手手臂的平衡机构设计............................................................................72.6.1平衡机构的形式.........................................................................................72.6.2具体设计方案.............................................................................................83手部结构设计............................................................................................................93.1手指的形状........................................................................................................93.2设计时考虑的几个问题....................................................................................93.3手部夹紧气缸的设计......................................................................................103.3.1手部驱动力计算.......................................................................................103.3.2气缸的直径...............................................................................................113.3.3缸筒壁厚的设计.......................................................................................134手臂结构设计..........................................................................................................154.1手臂伸缩..........................................................................................................154.1.1结构设计.......................................................................