没有合适的资源?快使用搜索试试~ 我知道了~
自动上料机械手设计论文.doc
1.该资源内容由用户上传,如若侵权请联系客服进行举报
2.虚拟产品一经售出概不退款(资源遇到问题,请及时私信上传者)
2.虚拟产品一经售出概不退款(资源遇到问题,请及时私信上传者)
版权申诉
0 下载量 77 浏览量
2023-10-16
00:44:17
上传
评论
收藏 536KB DOC 举报
温馨提示
![preview](https://dl-preview.csdnimg.cn/88432855/0001-3bf74bdda552f1b41fa3b551d4afc66f_thumbnail-wide.jpeg)
![preview-icon](https://csdnimg.cn/release/downloadcmsfe/public/img/scale.ab9e0183.png)
试读
43页
自动上料机械手设计论文
资源推荐
资源详情
资源评论
![doc](https://img-home.csdnimg.cn/images/20210720083327.png)
![pdf](https://img-home.csdnimg.cn/images/20210720083512.png)
![docx](https://img-home.csdnimg.cn/images/20210720083331.png)
![zip](https://img-home.csdnimg.cn/images/20210720083736.png)
![docx](https://img-home.csdnimg.cn/images/20210720083331.png)
![application/msword](https://img-home.csdnimg.cn/images/20210720083327.png)
![application/msword](https://img-home.csdnimg.cn/images/20210720083327.png)
![](https://csdnimg.cn/release/download_crawler_static/88432855/bg1.jpg)
自动上料机械手设计
摘 要
随着社会的不断进步,科技水平的不断发展,人们对时间的需求越来越大,所以在大
规模的制造业中,通过人力来进行产品的生产,已经不足以支撑企业运转了,所以为了提
高工作效率,同时也为了保证产品的质量,必须尽快实现机械自动化,这样一来,生产过
程能不能自动化,已经成为了当前需要关注的首要问题。随着人力劳动的减少,工业机器
人代替其站在了自动化生产线上,并且已经受到了多个企业的认可与采用。我们可以看出,
在进行工业机器人的制造时,技术水平以及机器人成功后的应用频率,和国家工业自动化
水平的高低,呈正相关趋势。在一些高温、高压等人类无法工作的特殊环境下,工业机器
人就发挥了自己的作用,在保证产品质量的情况下,替人类克服那些在特殊环境下,无法
完成的困难,同时解放人类的双手,进一步提高劳动生产率。现阶段,工业机器人主要负
责的工作是,像喷绘、焊接、搬运这样要么重复性强,要么工作难度高的工作,并且在进
行工作以前,还需要操作人员进行示教。
此次本文设计的机器人类型,是一个三自由度工业机器人,它的功能主要是可以运输物料,
它的总设计,主要有以下四部分构成:一、总体设计;二、工业机械手怎样组成,及有哪
些应用;三、对机械手的液压系统进行设计;四、对机械手的控制系统进行设计。其中我
们在驱动系统中机械手的驱动,为了保证定位的精准,同时保证操作简单,整体流程不复
杂,便于控制,选用了液压缸来进行操作。笔者对控制系统和液压系统也进行了分析计算,
为了对机械手装置的控制系统,进行深化设计,我们这次采用了 PLC 为核心。使控制系统
通过 PLC 进行控制,这与现如今工业控制系统设计的大方向不谋而合。并且,硬件电路与
机械手控制程序的设计,必须以工艺流程以及总体设计要求,已经分析完成的基点上进行。
关键词:工业机器人;控制系统;计算机辅助;专用设备
![](https://csdnimg.cn/release/download_crawler_static/88432855/bg2.jpg)
Abstract
With the continuous progress of the society and the continuous development of science and
technology level, people demand more and more time, so in large-scale manufacturing, the
production of products by manpower has been insufficient to support the operation of the
enterprise, in order to improve work efficiency, and ensure the quality of the product, the
enterprise must realize mechanical automation as soon as possible, and it has become the
primary problem that needs to be focused at the moment. With the decrease of human labor,
industrial robots have replaced them on the automatic production lines, and have been
recognized and adopted by many enterprises. We can see that the national industrial automation
level has a direct impact on manufacturing technology level and applied degree of the industrial
robot, In some special environments, such as high temperature and high pressure, which people
cannot work, industrial robots have played a role, in the case of ensuring the quality of products,
it can help human beings overcome the difficulties that cannot be accomplished under special
circumstances, and at the same time free their hands to further improve labor productivity. At the
present stage, industrial robots are mainly responsible for tasks such as painting, welding and
handling, which are either highly repetitive or difficult to work, and work in the way of
demonstration and teaching reproduction.
In this paper, a three-degree-of-freedom industrial robot is designed. Its main function is to
transport materials. Its overall design is made up of the following four parts: the first is the
overall design; the second is the composition and application of industrial manipulator; the third
is to design the manipulator hydraulic system; and the last one is to design the control system.
We drive of the manipulator in the drive system, in order to guarantee the precision of
positioning, at the same time to ensure the operation is simple, the overall process is not
complicated, and easy to control, so selecting for the hydraulic cylinder to operate. The author
also analyzed and calculated the control system and the hydraulic system, in order to further
design the control system of the manipulator, PLC is the core. The control system is controlled
by PLC, which coincides with the general direction of designing industrial control system.
Moreover, the design of hardware circuit and manipulator control program is carried out on the
basis of process flow and design requirements of the manipulator.
Key words:industrial machinery; hydraulic system; computer-assisted; dedicated device
![](https://csdnimg.cn/release/download_crawler_static/88432855/bg3.jpg)
目录
摘要 .................................................................................................................................................1
Abstract .........................................................................................................................................2
引言 .................................................................................................................................................3
1 工业机械手的组成和应用 ..........................................................................................................7
1.1 工业机械手的分类 .......................................................7
1.2 工业机械手的组成 .......................................................8
1.3 工业机械手在生产中的应用 ...............................................9
1.4 国内外发展状况 ................................................................................................................10
2 设计方案的总体设计 ................................................................................................................12
2.1 设计的目的和任务 ......................................................12
2.2 机械手的设计参数 ......................................................13
2.3 机械手整体结构形式的选择 ..............................................13
2.3.1 机械手的组成 ...........................................................................................................................13
2.3.2 机械手的自由度及坐标形式 ...................................................................................................14
2.3.3 机械手的动作顺序 ...................................................................................................................15
2.4 手部形式的设计 ........................................................16
2.4.1 概述...........................................................................................................................................16
2.4.2 手部的结构 ...............................................................................................................................16
2.5 机械手臂的设计 ........................................................19
2.5.1 概述...........................................................................................................................................19
2.5.2 伸缩夹紧缸的选取 ...................................................................................................................19
2.5.3 升降缸的选取 ...........................................................................................................................20
2.5.4 回转缸的选用 ...........................................................................................................................20
2.5.5 精度...........................................................................................................................................20
![](https://csdnimg.cn/release/download_crawler_static/88432855/bg4.jpg)
3 机械手液压系统设计 ................................................................................................................21
3.1 概述 ..................................................................21
3.2 元器件各种性能的选择.................................................25
3.2.1 流量的计算 ...............................................................................................................................25
3.2.2 工作压力的计算 .......................................................................................................................26
4 控制系统的设计 .....................................................................................................................28
4.1 概述..................................................................28
4.2 梯形图以及程序的编制.................................................29
4.2.1 动作的顺序与控制 ...................................................................................................................29
4.2.2 梯形图的编制 ...........................................................................................................................30
4.2.3 P LC 程序的编制 .......................................................................................................................33
结论 ...............................................................................................................................................35
致谢 ...............................................................................................................................................36
参考文献 .......................................................................................................................................37
![](https://csdnimg.cn/release/download_crawler_static/88432855/bg5.jpg)
引言
在进行工业生产的过程中,搬运材料、上料下料,这不仅是一项需要大
量人力的大工程,更是一项操作起来非常危险的工作,所以能不能实现机械
自动化,决定着这些环节,能不能解放人类的双手。这样一来,实现自动化
过程,不仅可以减少生产的成本,还能提高工作效率,同时可以减少事故的
发生。为了实现这些环节的自动化,所以,设计人员设计了工业机械手。
国内机器人专家按照应用环境的不同,把机器人分为了特种机器人和工
业机器人这两类。我们分别来对这两类机器人进行解读:一、工业机器人在
工业生产领域中,主要面向多关节机械手或多自由度机器人。二、特种机器
人就比较先进了,它可以有特定的功能。包括:农业机器人、娱乐机器人、
军用机器人等。在这些特种机器人中,有些分支发展的很快,有独立行成体
系的趋势,如水下机器人、服务机器人等。在当前,国际上研究机器人的相
关专家,按照应用环境的不同也将机器人分为两类:制造类的工业机器人和
非制造类的服务与仿人型机器人,这与我国的分类是一致的。
根据社会科技水平的不断进步,“高科技”、“高智能”成了工业制造
业发展的主要方向,并且各个部门也在积极的对自动化技术进行试用和推广。
在工业部门眼里,自动化也就是一个可以应用于各种生产制造过程的,在计
算机和自动化装置的基础上,通过对过程变量的调和(例如温度、浓度等可
变量),来保证最后结果符合要求,并且对整个生产过程,可以进行合理的
协调,来进行自动化生产的一种生产技术。
我们可以列出在进行实现锻压过程自动化的时候,会面临的以下几个问
题:一、怎样进行产品质量的提高,和产品稳定性的保证;二、由于我们进
剩余42页未读,继续阅读
资源评论
![avatar-default](https://csdnimg.cn/release/downloadcmsfe/public/img/lazyLogo2.1882d7f4.png)
![avatar](https://profile-avatar.csdnimg.cn/716068dcb8fa428c86d08d914d9799e3_qq_1262330535.jpg!1)
![avatar-vip](https://csdnimg.cn/release/downloadcmsfe/public/img/user-vip.1c89f3c5.png)
毕业程序员
- 粉丝: 8996
- 资源: 1890
上传资源 快速赚钱
我的内容管理 展开
我的资源 快来上传第一个资源
我的收益
登录查看自己的收益我的积分 登录查看自己的积分
我的C币 登录后查看C币余额
我的收藏
我的下载
下载帮助
![voice](https://csdnimg.cn/release/downloadcmsfe/public/img/voice.245cc511.png)
![center-task](https://csdnimg.cn/release/downloadcmsfe/public/img/center-task.c2eda91a.png)
安全验证
文档复制为VIP权益,开通VIP直接复制
![dialog-icon](https://csdnimg.cn/release/downloadcmsfe/public/img/green-success.6a4acb44.png)