气动搬运机械手的plc控制设计学士学位论文.doc

摘要

用于再现人手的的功能的技术装置称为机械手，机械手是模仿着人手

的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动

机械装置。机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，

改善劳动条件，提高劳动生产率和自动化水平。

床、组合机床）或装配线等进行圆柱形工件搬运。本机械手将采用三个自

由度，为气压驱动。本设计首先对机械手的手部、手腕、手臂等各个部分

进行设计计算，然后选择合适的传动方式、驱动方式，搭建机器人的结构

平台；其次，在气动系统的基础上对电气控制系统（PLC）进行了合理设计

和布线。其动作过程包括：下降、夹紧、上升、慢进、快进、慢进、延时、

下降、放松、上升、慢退、快退、慢退；其操作方式包括：回原位、手动、

单步、单周期、连续；完成搬运机械手搬运工件的最终要求。

关键词: 机械手，搬运，结构，气压，可编程控制器（PLC）。

conditions, and improve labor productivity and automation level.

The technique level and the application degree of industrial robots reflect

the national level of the industrial automation to some extent, with the

popularity of industrial automation and development, handling the application of

mechanical hand gradually popularity, mainly in the automotive, electronic,

mechanical processing, food, medicine and other areas of the production line or

cargo transport, we can be more good to save energy and improve the transport

efficiency of equipment or products, to reduce restrictions on other modes of

transportation to meet the requirements of modern economic development.

and wire the electrical control system on the base of the pneumatic system of the

manipulator. Their course of action should include: decline in clamping

increased, slow forward, fast forward, slow progress, the extension of , the drop

in, relax, rise, slow back, rewind, slow back; its operation, including: back in

situ, manual, single-step, single cycle, continuous; and finally complete the final

requirements of the handling robot porter pieces.

logic controller (PLC).

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