油茶采摘機械手的機構設計

包括論文，整套cad圖紙，答辯ppt，任務書

摘 要
本課題運用制圖軟件對機械手采摘油茶進行機構設計。包括：旋轉機構，蝸輪蝸桿減速裝置，直齒減速裝置；升降機構，氣壓缸升降裝置；擺臂機構，氣壓裝置和四桿裝置；手抓機構，滑動螺旋傳動裝置，手抓抓緊放開裝置，手抓自轉裝置；PLC程控系統(tǒng)，繼電器-接觸器控制系統(tǒng)，主電路，PLC外部接線，梯形圖，指令語句表。用AutoCAD繪制機構的二維圖形，用Pro/E繪制機構的三維造型。熟練掌握AutoCAD和Pro/E繪圖，對機械原理、機械設計及機電一體化有較深入的理解和認識。

關鍵詞：油茶采摘、機械手、PLC程序控制系統(tǒng)

Abstract
  This subject uses the software of making maps to pluck the tea-oil camellia and design the organization to the manipulator. Including the rotate organization, the worm gear worm decelerating device,the spur gear decelerating device;the hoist or lower organization, the barometric pressure cylinder hoists or lower device; the wave arm organization, atmospheric pressure device and four device ,the skids screw gearing,the hold organization , the slip spiral transmission device, the holding and unlock device, hold the rotation device ; PLC programme-controlled system, the relay - contact device control system.Main circuit, PLC exterior wiring, trapezoidal chart, instruction sentence table.Draw the two-dimentional figures of the organization with AutoCAD, draw the three-dimensional model of the organization with Pro/E. Grasp AutoCAD and Pro/E drawing skillfully, integrate deeper understanding and know to mechanism, machine design and integration of machinery.

Key words:The tea-oil tree picks, the manipulator, the PLC procedure control system

目錄
摘 要
Abstract
一、前 言 １
二、油茶采摘機械手原理圖 ２
三、油茶采摘機械手的設計與選型 ４
3.1、電動機的選型 ４
3.2、旋 轉 減 速 機 構 ５
3.2.1、第一級蝸輪蝸桿減速裝置 ５
3.2.2、第二級蝸輪蝸桿減速裝置 ７
3.2.3、直齒減速裝置 ８
3.2.4、旋轉機構轉速 ９
3.3、氣 壓 升 降、擺 臂 機 構 ９
3.3.1氣壓升降裝置 １０
3.3.2氣壓擺臂裝置 １０
3.4、手 抓 機 構 １０
3.4.1、滑動螺旋傳動裝置 １０
3.4.2、手抓工作裝置 １１
四、油茶采摘機械手的PLC程序控制系統(tǒng) １２
4.1、主電路 １２
4.2、PLC外部接線 １３
4.3、梯形圖 １４
4.4、指令語句表 １５
參 考 文 獻 １６
致     謝 １７