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关键词：: 抓手机械手机器人机电电机集成系统机械手设计机械手课程毕业设计抓手机器臂机电液集成系统设计

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课题名称抓手机器臂机电液集成系统设计

设计(论文)

一、课题研究的目的与主要内容

1、课题目的

培养学生综合运用所学知识的能力，能够独立地解决较为简单的工程问题，树立正确的设计思想和工作作风。本课题是抓手机器臂机电液集成系统设计，该课题来源于维克液压，通过课余时间参观学习和实地考察，给毕业设计提供参考。具体要求是通过毕业设计使学生用所学的知识解决实际问题，培养学生理论联系实际的能力。

2、主要内容

本文以抓手机器臂机电液集成系统为设计对象，对新产品的设计过程进行了研究。抓手机器臂机电液集成系统设计过程包括:抓手机器臂机械部分动力分析、机电液集成系统理论计算、机电液元件选型及核算、系统验算等。

主要工作内容如下:对抓手机器臂机电液集成系统的功能要求进行分析，确定抓手机器臂的运动姿态;对抓手机器臂的机电液集成系统结合国外先进资料进行分析整理，对抓手机器臂的各个运动部分的机电液集成系统详细分析，根据抓手机器臂的系统要求并结合具体情况对抓手机器臂机电液集成系统进行理论计算，并且对主要机电液元件选型;分析各个主要机电液元件的特性;部分液压缸的设计；系统的验算。

二、基本要求

1.熟悉运用CAD、PRO/E等绘图软件独立完成相关设计的原理图、零件图、装配图。

2.按学院毕业设计的编写规格要求，撰写设计说明书（1~2万字）。

3.设计完成与设计有关的外文资料翻译，译文要求准确，语言流畅。

注：1．此表由指导教师填写，经系、教研室主任审批生效；

2．此表1式3份，学生、系、教务处各1份。

三、课题研究已具备的条件（包括实验室、主要仪器设备、参考资料）

1．邵阳学院的实习工厂。

2．机械与能源工程系机械设计实验室，数控加工中心实验室，液压与气压传动实验室，主要仪器设备有：液压传动实验台，液压泵测试试验台，线切割加工机床，电火花成形加工机床，数控加工中心，类型较多的机械设计零件等。

3．邵阳学院图书馆。

4．主要参考资料：现具有《机械设计手册》、《液压传动与气压传动》、《电子技术》、《零件设计手册》等相关资料和液压泵、液压阀等液压元件的相关资料。除了以上的资料，还有AUTOCAD、PRO/E、OFFICE等相关的绘图软件和工作软件。

内容提要

本次设计的液压传动机械手根据规定的动作顺序，综合运用所学的基本理论、基本知识和相关的机械设计专业知识，完成对机械手的设计，并绘制必要装配图、液压系统图、PLC控制系统原理图。机械手的机械结构采用油缸、螺杆、导向筒等机械器件组成；在液压传动机构中，机械手的手臂伸缩油缸，手腕回转采用回转油缸，立柱的转动采用齿条油缸，机械手的升降采用升降油缸，立柱的横移采用横向移动油缸；在PLC控制回路中，采用的PLC类型为FX2N，当按下连续启动后，PLC按指定的程序，通过控制电磁阀的开关来控制机械手进行相应的动作循环，当按下连续停止按钮后，机械手在完成一个动作循环后停止运动。

Abstract

The design of hydraulic transmission of the manipulators according to the order of the integrated use of the basic theory, basic knowledge and related mechanical design professional knowledge, to complete the design of manipulator, and draw the necessary assembly drawing, the principle diagram of the hydraulic system diagram, PLC control system. The mechanical structure of the manipulator with oil cylinder, screw, guide tube and other mechanical parts; In hydraulic transmission mechanism, the manipulator arm telescopic oil cylinder, wrist rotation using rotating cylinder, post rotation using rack cylinder, lifting adopts lifting oil cylinder of the manipulator, column the transverse use transverse moving oil cylinder; In PLC control circuit, the use of FX2N PLC type, when press the row after the start, PLC according to the specified procedures, by controlling the switch of the solenoid valve to control the manipulator for corresponding action cycle, when press the stop button continuously, manipulator stop moving after cyclic to complete an action.

内容提要I

AbstractII

1 前言1

1.1 工业机器人简介1

1.2 国外工业机器人发展2

1.3 国内工业机器人的发展3

1.4 我要设计的机械臂3

2 机器臂的机械结构设计总体来实现的设计及方案论证5

2.1 机器臂的结构及工作原理5

2.2 机器臂运动形式及方案论证5

2.3 典型机器臂的机构8

3 机器臂液压系统设计与校核11

3.1 液压系统简介11

3.2 液压系统的组成11

3.3 机械臂液压系统的控制回路11

3.4 机器臂简单液压系统的计算13

3.5 机器臂的液压系统图19

4 电气系统设计与分析21

4.1 可编程序控制器的选择及工作过程21

4.2 可编程序控制器的使用步骤22

4.3 机械手可编程序控制器控制方案22

总结25

参考文献26

致谢27

1 前言

1.1 工业机器人简介

工业机器人一般指的是在工厂车间环境中，配合自动化生产的需要，代替人来完成材料的搬运、加工、装配等操作的一种机器人。能代替人完成搬运、加工、装配功能的工作可以是各种专用的自动机器，但是使用机器人则是为了利用它的柔性自动化功能，以达到最高的技术经济效益。有关工业机器人的定义有许多不同说法，从中可以对工业机器人的主功能有更深入的了解。

(1)美国机器协会（RIA）：机器人是“一种用于移动各种材料﹑零件、工具或专用装置的，通过程序动作来执行各种任务，并具有编程能力的多功能操作机（manipulator）”。

(2)日本工业机器人协会：工业机器人是“一种装备有记忆装置和末端执行装置的、能够完成各种移动来代替人类劳动的通用机器”。它又分以下两种情况来定义：

①工业机器人是“一种能够执行与人的上肢类似动作的多功能机器”。

②智能机器人是“一种具有感觉和识别能力，并能够控制自身行为的机器”。

(3)国际标准化组织（ISO）：“机器人是一种自动的、位置可控的、具有编程能力的多功能操作机，这种操作机具有几个轴，能够借助可编程操作来处理各种材料、零件、工具和专用装置，以执行各种任务”。

参考文献

[1] 濮良贵.机械设计.北京：高等教育出版社，2003.6

[2] 张普礼.机械工程手册.北京：机械工业出版社，1992.5

[3] 邓光敏.工业机械手册.北京：机械工业出版社，1995.8

[4] 何发昌，邵远.多功能机械手的原理及应用.北京：高等教育出版社，2002.1

[5] 吴延本，刘世华.机械设计手册.吉林：吉林科技出版社，1996.7

[6] 刘跃南.机械零件设计问题解析.北京：中国致公出版社，1999.4

[7] 徐福玲.液压与气压传动.北京：机械工业出版社，2004.2

[8] 邓星钟.机电传动控制[M].华中科技大学出版社，2002

[9] 孙志礼，冷兴聚，魏延刚等.机械设计[M].东北大学出版社，2003

[10] 徐灏.机械设计手册[M]第五卷.机械工业出版社，1992

[11] 吴宗泽.机械设计师手册[M].机械工业出版社，2002

[12] 成大先.机械设计手册[M].化学工业出版社，2002年

[13] 罗洪量.机械原理课程设计指导书[M]（第二版）.高等教育出版社，1986

[14] JJ.杰克（美）.机械与机构的设计原理[M]（第一版）.机械工业出版社，1985

[15] 王玉新.机构创新设计方法学[M]（第一版）.天津大学出版社，1996

[16] 张建民.工业机器人[B][M].机械工业出版社，1991

[17] 马香峰.机器人结构学[B][M].机械工业出版社，1991

[18] 黄继昌，徐巧鱼，张海贵等.实用机械机构图册[B][M].人民邮电出版社，1993

[19] 天津大学《工业机械手设计基础》编写组.工业机械手设计基础[B][M].天津科学技术出版社，1981

[20]金茂菁.我国工业机器人发展现状[J].机器人技术与应用，2001,01（4）

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内容简介：: 1 外文出处： Manufacturing Engineering and Technology Machining 附件 1：外文原文 Manipulator Robot developed in recent decades as high-tech automated production equipment. Industrial robot is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the peoples intelligence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development. With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system formaterials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the systems reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology. First, an overview of industrial manipulator Robot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that nts 2 Europe and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those foundin industrial-intensive South China, East Chinas coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges. With the rapid development of Chinas industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention. Robot is to imitate the manual part of the action, according toa given program, track and requirements for automatic capture, handling or operationof the automatic mechanical devices. In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it. Production of mechanical hand can increase the automation level of production andlabor productivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production. Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pints 3 peline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased. With pneumatic drive and compare with other energy sources drive has the following advantages: Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production. Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport. The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better. Compared with the hydraulic transmission, and its faster action and reaction, whichis one of the outstanding merits of pneumatic. Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in flammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. Second, the composition, mechanical hand Robot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the , Usually by the implementing agencies, transmission systems, control systems and auxiliary devices composents 4 d. 1. Implementing agencies Manipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar actions. Wrist and fingers and the arm connectingthe components can be up and down, left, and rotary movement. A simple mechanicalhand can not wrist. Pillars used to support the arm can also be made mobile as needed. 2. Transmission The actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms. 3. Control System Manipulator control systems main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use complex programmable robot controller, the micro-computer control. Three, mechanical hand classification and characteristics Robots are generally divided into three categories: the first is the general machinerydoes not require manual hand. It is an independent not affiliated with a particular hostdevice. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical performance, alsohas general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or autonts 5 matic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign countries known as the Mechanical Hand, which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special. Main features: First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane,labor-saving spreader, pneumatic balancer, etc.). Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.) Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane) Four, industrial machinery, application of hand Manipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Although the robot is not as flexible as staff, but it has to the continuous duplicationof work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, forexample: (1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common. (2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry It can be used to assemble parts and components. (3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigunts 6 e working environment to replace human labor. (4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on. (5) Universe and ocean development. (6), military engineering and biomedical research and testing. Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system,a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized cases. Manual operation of a simulation of the automatic machinery, it can be a fixed program draws handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial productionsector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping support and adsorption type ofcare. Movement organs are generally hydraulic pneumatic electrical device drivers. Manipulator can be achieved independently retractable rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors. Can mimic some of the staff and arm motor function, a fixd procedure for the captunts 7 re, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand. Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight, material and operational requirements of a variety of structural forms, such as clamp type,type and adsorption-based care such as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture. Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication ofboring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipnts 8 ment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, Chinas industrial robot technology and its engineering application level and comparable to foreign countries there isa certain distance, application and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations are very necessary. Therefore, the study of mechanical hand design is very meaningful. nts 9 附件 1：外文资料翻译译文机械手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。工业机械手是工业机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。随着工业自动化的发展 , 出现了数控加工中心 ,它在减轻工人的劳动强度的同时 , 大大提高了劳动生产率。但数控加工中常见的上下料工序 , 通常仍采用人工操作或传统继电器控制的半自动化装置。前者费时费工、效率低 ; 后者因设计复杂 , 需较多继电器 ,接线繁杂 , 易受车体振动干扰 ,而存在可靠性差、故障多、维修困难等问题。可编程序控制器 PLC 控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力 , 保证了系统运行的可靠性 ,降低了维修率 , 提高了工作效率。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科学领域，是一门跨学科综合技术。 1工业机械手的概述机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。在工资水平较低的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经越来越普及。那些电子和汽车业的欧美跨国公司很早就在它们设在中国的工厂中引进了自动化生产。但现在的变化是那些分布在工业密集的华南、华东沿海地区的中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣，因为他们要面对工人流失率高，以及为工人交工伤费带来的挑战。随着我国工业生产的飞跃发展，特别是改革开发以后，自动化程度的迅速提高，实现工件的装卸、转向、输送或操作钎焊、喷枪、扳手等工具进行加工、装配等作业自化，已愈来愈引起我们重视。机械手是模仿着人手的部分动作，按给定的程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。在现实生活中，你是否会发现这样一个问题。在机械工厂里，加工零件装料的时候是不是很烦的，劳动生产率不高，生产成本大，有时候还会发生一些人为事故，nts 10 导致加工者受伤。想想看用什么可以来代替呢，加工的时候只要有几个人巡视一下，且可以二十四个小时饱和运作，人行吗？回答是肯定的，但是机械手可以来代替它。生产中应用机械手可以提高生产的自动化水平和劳动生产率 ;可以减轻劳动强度、保证产品质量、实现安全生产；尤其是在高温、高压、低温、低压、粉尘、易爆、有毒气体和放射性等恶劣的环境中能够代替人进行正常的工作。想到这里我就很想设计一个机械手，来用于生产实际中。为什么选着设计机械手用气动来提供动力：气动机械手是指以压

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