畢業(yè)設(shè)計(jì)：碼垛機(jī)械手控制系統(tǒng)及結(jié)構(gòu)設(shè)計(jì)
論文說(shuō)明書共41頁(yè)，字?jǐn)?shù)總計(jì)：10162
資料內(nèi)容簡(jiǎn)介：
畢業(yè)設(shè)計(jì)（論文）任務(wù)書.doc
畢業(yè)設(shè)計(jì)開(kāi)題報(bào)告.doc
畢業(yè)設(shè)計(jì)論文說(shuō)明書：碼垛機(jī)械手控制系統(tǒng)及結(jié)構(gòu)設(shè)計(jì).doc
導(dǎo)向機(jī)構(gòu).dwg
夾持部分圖片.dwg
外文翻譯.doc
整體簡(jiǎn)圖.dwg
A0-機(jī)械手裝配圖.dwg
A1-滑臺(tái).dwg
A1-回轉(zhuǎn)缸右缸蓋.dwg
A1-夾持器.dwg
A2-伸縮缸缸體.dwg
A3-夾緊缸活塞桿.dwg
A2-液壓系統(tǒng).dwg
碼垛機(jī)械手機(jī)械及控制系統(tǒng)設(shè)計(jì)
摘 要
這次畢業(yè)設(shè)計(jì)我選的題目是碼垛機(jī)械手機(jī)械及控制系統(tǒng)設(shè)計(jì)，本設(shè)計(jì)是針對(duì)流水線智能自動(dòng)化生產(chǎn)而設(shè)計(jì)的機(jī)械夾持器。機(jī)械手與機(jī)器人的聯(lián)系相當(dāng)密切，機(jī)械手的應(yīng)用和發(fā)展，大大推動(dòng)了智能機(jī)器人的研究。同時(shí)，機(jī)械手是一門應(yīng)用很廣的學(xué)科，它幾乎在各個(gè)部門和學(xué)科都有應(yīng)用，尤其在機(jī)械工業(yè)中。本次設(shè)計(jì)的重點(diǎn)是對(duì)碼垛機(jī)械手的結(jié)構(gòu)進(jìn)行優(yōu)化設(shè)計(jì)，在符合力學(xué)與動(dòng)力學(xué)的基礎(chǔ)上力求簡(jiǎn)化機(jī)構(gòu)，降低制造成本?？刂品矫鎯?yōu)化控制程序，控制精度提高的同時(shí)反應(yīng)速度更快，提高勞動(dòng)生產(chǎn)率。機(jī)械手設(shè)計(jì)主要包含以下幾個(gè)方面。
（1）夾持機(jī)構(gòu)設(shè)計(jì)，包括夾緊力、驅(qū)動(dòng)力計(jì)算，驅(qū)動(dòng)液壓缸的選擇，夾持誤差分析。
（2）伸縮臂機(jī)械機(jī)構(gòu)設(shè)計(jì)，包含確定設(shè)計(jì)方案，液壓缸的選擇，導(dǎo)向機(jī)構(gòu)設(shè)計(jì)三個(gè)環(huán)節(jié)。
（3）驅(qū)動(dòng)系統(tǒng)設(shè)計(jì)，包含功率計(jì)算，電機(jī)選擇，液壓泵的選擇，液壓系統(tǒng)圖的繪制幾個(gè)方面。
（4）控制系統(tǒng)設(shè)計(jì)。結(jié)合需要選擇控制器，進(jìn)行控制程序的編譯。

關(guān)鍵詞：機(jī)械手，夾持器，伸縮臂，液壓缸。

Robotic Palletizing Machinery and Control System
Abstract
The graduation project I chose the topic of robotic palletizing machinery and control system design, the design is for intelligent automated production lines designed for mechanical gripper. Contact with the robot manipulator quite closely, application and development of the robot, which greatly promoted the intelligent robot research. Meanwhile, the robot is a very broad application discipline, which in almost all sectors and disciplines have applications, especially in the machinery industry. The design of the focus is on the palletizing robot designed to optimize the structure, in line with mechanics and dynamics based on the agency seeks to simplify and reduce manufacturing costs. Control optimal control procedures, control accuracy is improved at the same time the reaction is faster, improve labor productivity. Robot design mainly includes the following aspects.
（1）Clamping mechanism design, including the clamping force, the driving force calculation, the choice of driving the hydraulic cylinder, the clamping error analysis
（2）Telescopic mechanical structure design, including determining design, selection of the hydraulic cylinder, the guide mechanism design three links.
（3）Drive system, including the power calculation, motor selection, pump selection, the hydraulic system mapping aspects.
（4）Control system design. Combined need to select the controller, the control program is compiled.
Keywords: robots, grippers, telescopic hydraulic cylinders.


目 錄
第一章 緒論 1
1.1機(jī)械手的概述 1
1.2碼垛機(jī)械手的特點(diǎn) 1
1.3碼垛機(jī)械手的應(yīng)用意義 2
第二章 夾持器機(jī)構(gòu)設(shè)計(jì) 3
2.1夾持器設(shè)計(jì)的基本要求 3
2.2夾持器結(jié)構(gòu)設(shè)計(jì) 3
2.2.1夾緊力計(jì)算 3
2.2.2液壓缸驅(qū)動(dòng)力計(jì)算 4
2.2.3選用夾持器液壓缸 5
2.2.4手指爪部的夾持誤差及相關(guān)分析 5
2.2.5楔塊等尺寸的確定 7
2.2.6材料及連接件選擇 9
第三章 伸縮臂機(jī)構(gòu)設(shè)計(jì) 10
3.1伸縮臂設(shè)計(jì)要求 10
3.2設(shè)計(jì)方案 10
3.3伸縮臂結(jié)構(gòu)設(shè)計(jì) 11
3.3.1確定液壓缸參數(shù) 11
3.3.2導(dǎo)向桿機(jī)構(gòu)設(shè)計(jì) 16
第四章 驅(qū)動(dòng)系統(tǒng) 19
4.1驅(qū)動(dòng)系統(tǒng)設(shè)計(jì)要求 19
4.2驅(qū)動(dòng)系統(tǒng)設(shè)計(jì)方案 19
4.3驅(qū)動(dòng)系統(tǒng)設(shè)計(jì) 20
4.3.1分功能設(shè)計(jì)分析 20
4.3.2液壓泵的確定與所需功率計(jì)算 20
4.3.3確定泵的電機(jī)功率N 21
4.3.4液壓元件的選擇 21
4.3.5輔助元件的選擇 22
4.4液壓系統(tǒng)的驗(yàn)算 22
4.5液壓系統(tǒng)圖 23
第五章 碼垛機(jī)械手控制系統(tǒng)設(shè)計(jì) 25
5.1 PLC的構(gòu)成及工作原理 25
5.2 PLC選擇 25
5.3程序設(shè)計(jì) 26
圖5—3自動(dòng)控制圖 27
結(jié) 論 28
參考文獻(xiàn) 29