机械手设计说明书毕业论文.doc

1说明报告2摘要第一章绪论····························································································4.机械手的发展背景··········································································41.2毕业设计的目的和意义·······································································4第二章、设计要求······················································································62.1机械手的设计要求············································································62.2说明报告书的要求············································································6第三章机械手的工作原理············································································73.1机械手的概述·················································································73.2机械手的分类·················································································83.3PLC控制机械手的优点·······································································8第四章机械手的设计··················································································94.1设计方案························································································94.2机械手的底座················································································104.3机械手的轴承·················································································114.4机械手的减速器·············································································154.5机械手的丝杆················································································174.6机械手的导轨················································································184.7机械手的夹具设计··········································································184.8行程开关······················································································194.9电动机························································································194.10传感器·······················································································214.11联轴器······················································································264.12液压传动····················································································26第五章机械手的控制程序··········································································305.1梯形图（LAD）·············································································315.2顺序功能流程图（SFC）···································································325.3指令表（STL）··············································································335.4接线图························································································35第六章装配图及零件图·············································································366.1装配图························································································366.2零件图························································································36致谢·····································································································38参考文献·······························································································393摘要机械手是近几十年发展起来的一种高科技自动化生产设备。通过编程来完成各种动作，它的准确性和多角度，保证了机械手能在各种不同的环境下工作。机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等领域，是一门跨学科综合技术。机械手可以完成许多工作，如搬物、装配、切割等，本课题设计主要对搬运机械手进行研究设计，具备上下、左右转动，前进后退，对物体的加紧与放松等功能。利用PLC控制的机械手实现以上工序动作，可以简化控制，提高效率。4第一章绪论.机械手的发展背景随着科学技术的日新月异，自动化程度要求越来越高，市场竞争激烈，人工成本上涨，以往人工操作的搬运和固定式输送为主的传统物件搬运方式，不但占用空间也不容易更变生产结构，加上需要人力监督操作，这就大大增加生产成本，原有的生产装料装置远远不能满足当前高度自动化的需要。减轻劳动强度，保障生产的可靠性、安全性，降低生产成本，减少环境污染、提高产品的质量及经济效益是企业生产所必须面临的重要问题。随着工业自动化的发展，机械手的出现大大减轻了工人的劳动强度，提高了劳动生产率，所以机械手得到快速发展。因为机械手的范围太广，所以本文就以电动式机械手而论。近几十年来，电子技术的应用领域迅速拓宽，尤其是在各种自动化生产线上得到广泛应用。电器可编程控制使整个系统自动化，控制灵活，性能可靠。电动机械手、柔性自动生产线的迅速发展，现代理论的的发展，使电子技术自动控制精度不断提高。近几十年来，国内外都在大力开发研究电子技术，其应用也是越来越来广泛。随着计算机技术。传感器技术和现代控制技术的发展与应用，电子技术已成为实现现代传动与控制的关键技术之一。自美国数字设备公司在1969年研制出第一台可编程控制器，并成功的应用到生产线上，随着微电子技术和计算机的迅猛发展，可编程控制器发展到数字控制及生产过程控制域，可编程控制器就得到快速发展，真正成为一种电子计算机工业控制装置。可编程控制器是一种进行数字运算的电子系统，是为工业环境下的应用而设计的控制器，它可以采用可编程的存储器，在内部存储执行逻辑运算、顺序控制、定时、计数和算术运算等操作指令，并通过数字或模拟式的输入和输出，控制各种机械的生产过程。因此，PLC控制机械手的设计可以推动机械手行业的发展，扩大PLC在自动化领域的应用，具有一定的经济价值。1.2毕业设计的目的和意义改革开放以来，我国经济得到高速发展，很多行业发展十分迅速，微电子技术、计算机技术和自动化控制技术就是其中得到快速发展的。机械手在早期的应用是在汽车制造工业方面，进行一般的焊接、喷漆、搬运物料等。但是面临一些人工无法完成的工作，机械手成为了代替人的替代品，因此，随着人把机械手运用到更多恶劣环境的想象力的产生，机械手有了更多用处，它可以代替人从事危险、有害有毒、低温和高温等恶劣环境中的工作；代替人完成繁重、单调重复劳动、提高劳动生产率，保证产品质量。目前机械手主要用于制造业中，特别是电器制造、汽车制造、塑料加