气动机械手回转臂结构设计（全套含CAD图纸）.rar

1 摘要本文简要介绍了机器人的概念,机械手的组成和分类,机械手的自由度和坐标形式,气动技术的特点, PLC 控制的特点及国内外的发展状况。本文对机械手进行总体方案设计, 确定了机械手的坐标形式和自由度, 确定了机械手的技术参数。同时,计算并设计出了回转气缸、伸缩手臂的机械机构。设计出了机械手的气动系统, 绘制了机械手气压系统工作原理图, 对气压系统工作原理图的参数化绘制进行了研究,大大提高了绘图效率和图纸质量。利用可编程序控制器对机械手进行控制, 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, 设计出了人工移动式( 无动力) 点位示教控制软件,并画出了机械手的工作时序图,并绘制了可编程序控制器的控制程序。关键词: 工业机器人;机械手;气动;可编程序控制器( PLC ); 2 Abstract At first, the paper introduces the conception of the industrial robot and the eler. dary information of the development briefly . What ’s more, the paper accounts for the background and the primary mission of the topic. The paper introduces the function, composing and classification of the manipulator , tells out the free-degree and the form of coordinate . At the same time, the paper gives out the primary specification parameter of this manipulator, The paper designs the structure of the hand and the equipment of the drive of the manipulator , This paper designs the structure of the wrist , computes the needed moment of the drive when the wrist wheels and the moment of the drive of the pump. The paper designs the structure of the arm. The paper designs the system of air pressure drive and draws the work principle chart , the manipulator uses PLC to control . The paper institutes two control schemes of PLC according to the work flow of the manipulator . The paper draws out the work time sequence chart and the trapezia chart . What ’s more , the paper workout the control program of the PLC , Keywork: industrial robot ; manipulator ; pump ; air pressure drive ; PLC 3 目录摘要(中文) ......................................................... Ⅰ(英文) ......................................................... Ⅱ第一章绪论 机械手概述.......................................................1 机械手的组成和分类...............................................1 机械手的组成...............................................1 机械手的分类...............................................3 国内外发展状况...................................................4 课题的提出及