目  錄

                                       

摘要 1

關(guān)鍵詞 1

Abstract 1

Key words 1

引言 2

1 材料與方法 2

1.1 機(jī)械手的發(fā)展現(xiàn)狀 2

1.2 課題的構(gòu)想與思路 3

1.3 設(shè)計(jì)的主要內(nèi)容 3

1.4 要解決的計(jì)算部分 4

2 總體方案設(shè)計(jì) 4

2.1 位置檢測(cè)與定位方式 4

2.2 緩沖方式 4

2.3 換刀機(jī)械手與驅(qū)動(dòng)裝置的研究 4

2.4 刀庫(kù)結(jié)構(gòu) 4

2.5 智能型控制系統(tǒng)的研究 4

3 機(jī)械結(jié)構(gòu)設(shè)計(jì) 5

3.1 自動(dòng)換刀機(jī)械手的組成和配置 5

3.2 自動(dòng)換刀機(jī)械手升降（即手架升降）機(jī)構(gòu) 5

3.3 自動(dòng)換刀機(jī)械手的滑座伸縮和手架回轉(zhuǎn)運(yùn)動(dòng)機(jī)構(gòu) 6

3.4 裝、卸刀手手臂和手部結(jié)構(gòu) 7

4 液壓系統(tǒng)設(shè)計(jì) 8

5 PLC控制系統(tǒng)設(shè)計(jì) 10

5.1 PLC的介紹 10

5.2 PLC的結(jié)構(gòu)及基本配置 11

5.2.1 CPU的構(gòu)成 11

5.2.2 I/O模塊 12

5.2.3 電源模塊 12

5.2.4 板底或機(jī)架 12

5.2.5 PLC的外部設(shè)備 12

5.3 自動(dòng)換刀過(guò)程 12

總結(jié) 16

參考文獻(xiàn) 18

致謝 19

數(shù)控臥式鏜銑床自動(dòng)換刀機(jī)械手的設(shè)計(jì)

  

摘要：工業(yè)機(jī)械手又稱通用自動(dòng)機(jī)械手，是一種“獨(dú)立”的可變程序的自動(dòng)機(jī)械手。它是在五十年代末期出現(xiàn)，近年來(lái)才迅速發(fā)展起來(lái)的重要自動(dòng)化裝置，現(xiàn)已成為實(shí)現(xiàn)工業(yè)自動(dòng)化的一種重要手段。工業(yè)機(jī)械手已應(yīng)用在機(jī)械制造的多種工藝中以代替人工，并成為機(jī)械加工人員所需掌握的生產(chǎn)工具。近年來(lái)隨著工業(yè)自動(dòng)化的發(fā)展機(jī)械手逐漸成為一門新興的學(xué)科，并得到了較快的發(fā)展。機(jī)械手廣泛地應(yīng)用于鍛壓、沖壓、鑄造、焊接、裝配、機(jī)加、噴漆、熱處理等各個(gè)行業(yè)。特別是在笨重、高溫、有毒、危險(xiǎn)、放射性、多粉塵等惡劣的勞動(dòng)環(huán)境中，機(jī)械手由于其顯著的優(yōu)點(diǎn)而受到特別重視。總之，機(jī)械手是提高勞動(dòng)生產(chǎn)率，改善勞動(dòng)條件，減輕工人勞動(dòng)強(qiáng)度和實(shí)現(xiàn)工業(yè)生產(chǎn)自動(dòng)化的一個(gè)重要手段，國(guó)內(nèi)外都很重視它的應(yīng)用和發(fā)展。傳動(dòng)主要分為機(jī)械傳動(dòng),流體傳動(dòng)和電傳動(dòng)三類。作為機(jī)械手的輔助運(yùn)行機(jī)構(gòu)，它決定了機(jī)械手的使用范圍和實(shí)用性，有著十分重要的作用。

關(guān)鍵詞：臥式鏜床；自動(dòng)換刀；機(jī)械手

The Design of CNC Horizontal Boring and Milling Machine Automatic Tool Changing Manipulator

Student majoring in Mechanical and Electronic Engineering   

Abstract： Industrial robots and general automatic robot, it is a kind of "independent" variable automatic robot. It is late in the 1950s, in recent years to rapidly develop automation equipment, has become an important industrial automation is a kind of important means. Industrial robots have been used in various mechanical manufacturing process to replace artificial and become mechanical processing personnel of master production tools.In recent years, with the development of industrial automation gradually become a new robot of disciplines, and the rapid development. Manipulator is widely used in forging, stamping, molding, welding, assembling, machining, paint, heat treatment, etc. Especially in heavy, high temperature, toxic or hazardous, radioactive, such as dust, the working environment due to its advantages of significant manipulator by special attention. Anyhow, manipulator is to improve labor productivity, improve working conditions, reduce labor intensity and realize the automation of industrial production, and is an important means to have paid great attention to the development and application of it.Driving mainly divided into the mechanical transmission, fluid transmission and power transmission. As the auxiliary operation organization, robot manipulator which determines the scope of use and practicability, plays a very important role.

Key words：Horizontal boring machine; Automatic tool changer; Manipulator