畢業(yè)設(shè)計(jì) 搬運(yùn)機(jī)械手及其控制系統(tǒng)設(shè)計(jì)
論文說明書共39頁，字?jǐn)?shù)總計(jì)：16341
資料簡介：
畢業(yè)論文說明書.doc
A2-底座.dwg
A3-plc輸入輸出接線圖.dwg
A0-搬運(yùn)機(jī)械手裝配圖.dwg
A3-上氣爪.dwg
A3-上軸承.dwg
A3-下氣爪.dwg
A1-總體布置圖.dwg
A3-梯形圖.dwg
A2-手臂部裝圖.dwg
A2-氣動(dòng)原理.dwg
摘 要
近20年來，氣動(dòng)技術(shù)的應(yīng)用領(lǐng)域迅速拓寬，尤其是在各種自動(dòng)化生產(chǎn)線上得到廣泛應(yīng)用。電氣可編程控制技術(shù)與氣動(dòng)技術(shù)相結(jié)合，使整個(gè)系統(tǒng)自動(dòng)化程度更高，控制方式更靈活，性能更加可靠；氣動(dòng)機(jī)械手、柔性自動(dòng)生產(chǎn)線的迅速發(fā)展，對氣動(dòng)技術(shù)提出了更多更高的要求。
本課題設(shè)計(jì)源于生產(chǎn)線中的搬運(yùn)站，傳動(dòng)方式采用氣壓傳動(dòng)，即用各種氣缸來控制機(jī)械手的動(dòng)作，控制部分結(jié)合可編程控制技術(shù)編寫程序進(jìn)行控制來實(shí)現(xiàn)兩站之間的搬運(yùn)。
機(jī)械手主要由手部、運(yùn)動(dòng)機(jī)構(gòu)和控制系統(tǒng)三大部分組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢。運(yùn)動(dòng)機(jī)構(gòu)的升降、伸縮、旋轉(zhuǎn)等獨(dú)立運(yùn)動(dòng)方式，稱為機(jī)械手的自由度 。本課題中設(shè)計(jì)的搬運(yùn)機(jī)械手主要有旋轉(zhuǎn)、伸縮、升降、夾緊四個(gè)自由度組成。
課題從機(jī)械部分、氣動(dòng)部分和控制三部分對氣動(dòng)機(jī)械手進(jìn)行設(shè)計(jì)，要求機(jī)械手實(shí)現(xiàn)上下站之間的搬運(yùn)功能。機(jī)械部分重點(diǎn)是總體結(jié)構(gòu)的設(shè)計(jì)、各個(gè)氣缸的選擇和安裝設(shè)計(jì)、各零部件的結(jié)構(gòu)設(shè)計(jì)等，氣動(dòng)部分主要是給出了搬運(yùn)機(jī)械手的氣動(dòng)原理圖，而控制部分則主要是程序的設(shè)計(jì)和調(diào)試，論文采用西門子（S7-200）指令編程，給出了相應(yīng)的梯形圖、語句表和簡單的流程圖。
由于氣動(dòng)機(jī)械手有結(jié)構(gòu)簡單、易實(shí)現(xiàn)無級調(diào)速、易實(shí)現(xiàn)過載保護(hù)、易實(shí)現(xiàn)復(fù)雜的動(dòng)作等諸多獨(dú)特的優(yōu)點(diǎn)，氣動(dòng)機(jī)械手正在向重復(fù)高精度，模塊化，無給油化， 機(jī)電氣一體化方向發(fā)展?？梢灶A(yù)見，在不久的將來，氣動(dòng)機(jī)械手將越來越廣泛地進(jìn)人工業(yè)、軍事、航空、醫(yī)療、生活等領(lǐng)域。
關(guān)鍵詞：可編程控制器，柔性自動(dòng)生產(chǎn)線，自由度，梯形圖
Abstract
Over the past 20 years, the field of pneumatic technology expand rapidly,which is widely used in a diverse array of automated production line especially.The combine of electrical programmable technology and pneumatic control technology makes the whole system a higher degree of automation, more flexible control and more reliable performance;The rapid develop of pneumatic manipulator and flexible automated production lines requier much more to the development of pneumatic technology .
This topic originated from the handling station of the production line;The drive is used pressure transmission, which uses a variety of cylinder to control the robot's movement and the control parts combining the programmable control technology make a programme to achieve the control of the transportation between the two places.
Manipulator is competed by three major parts including hand, sports bodies and control system. Task of hand is to hold the workpiece (or tool) of the components.According to the grasping object’s shape, size, weight, materials and operating requirements the hand hands a variety of structural forms, such as clamp type, ADS holders and adsorption type and so on.The movement part can complete the prescriptive move and achieve the change of the site and gesture of the grasping objects by varies rotating(twisting),moving or complex movements on hand. The independence movements such as the rise and fall of body, stretching and rotating manner are called the free degrees of manipulator. The handling manipulator of the topic composites four free degrees which are rotation, stretching, lifting and claping
The pneumatic manipulator design is desided from three parts in chuding the mechanical parts, pneumatic parts and control parts,which requires to achieve mechanical hand up and down between the handling function. Focus on the mechanical parts are the design of overall structure , the choice of each cylinder and installation design, structural design of various components etc; pneumatic part is given the pneumatic manipulator handling schematics, and the control part of the procedure was mainly design and debugging,The papers use Siemens (S7-200) instructions program,giving the corresponding ladder diagram, statement forms and simple flow chart.
Because the pneumatic Manipulator has advantages of simple structure, easy to achieve the stepless speed regulation, easy to achieve overload protection, easy to achieve a number of complex movements,the pneumatic manipulator is developing to the repeat-high-precision, modular, non-oil and electrical integration direction. It is foreseeable that in the near future, pneumatic manipulator will become more and more widely used into the industrial, military, aviation, medical, and other areas of life.

Keywords:PLC, flexible automated production lines, free degree, Ladder Diagram
目 錄
摘 要 I
ABSTRACT（英文摘要） Ⅱ
目 錄 IV
第一章 引 言 1
1.1 課題的背景和意義 1
1.2 課題國內(nèi)外發(fā)展現(xiàn)狀 2
第二章 總體方案確定 4
2.1 總體方案論證 4
2.1.1 機(jī)械手手臂結(jié)構(gòu)方案設(shè)計(jì) 4
2.1.2 機(jī)械手驅(qū)動(dòng)方案設(shè)計(jì) 4
2.1.3 機(jī)械手控制方案設(shè)計(jì) 5
2.1.4 機(jī)..