平衡臂機械手的設計之plc邏輯順序控制和液壓系統(tǒng)設計

1、1目錄目錄……………………………………………………………………………1Abstract……………………………………………………………………………………………………….1摘要.....................................................................................................................1第一章前言...........

2、........................................................................................41.1工業(yè)機器人...........................................................................................................................

3、............41.1.1工業(yè)機器人簡介...................................................................................................................41.1.2世界機器人的發(fā)展..................................................................

4、.............................................41.1.3我國工業(yè)機器人的發(fā)展.......................................................................................................51.2工業(yè)機械手...............................................

5、........................................................................................61.2.1簡史............................................................................................................................

6、...........61.2.2應用簡況...............................................................................................................................71.2.3國內(nèi)外機械人發(fā)展趨勢........................................................

7、...............................................71.3機械手的組成和分類.......................................................................................................................91.3.1機械手的組成.............................

8、..........................................................................................91.3.2機械手的分類.....................................................................................................................1

9、11.4本課題研究的主要內(nèi)容及意義.....................................................................................................111.4.1課題七桿二自由度機械手設計內(nèi)容及基本要求........................................................111.4.2重點研究的問題：....

10、.........................................................................................................111.4.3本次設計的意義.....................................................................................................

11、...........11第二章機械手機械結(jié)構(gòu)的設計計算機械手機械結(jié)構(gòu)的設計計算...........................................................122.1機械手機構(gòu)的分析與設計.......................................................................................................12

12、2.1.1機械手的自由度............................................................................................................122.1.2坐標形式.........................................................................................

13、...............................132.1.3機械手的機構(gòu)簡圖以及部件尺寸................................................................................132.1.4機械手總體方案的比較.......................................................................

14、..............................15第三章平衡臂機械手總體設計方案平衡臂機械手總體設計方案...........................................................153.1機械手總體系統(tǒng)的設計.......................................................................................

15、.................153.2液壓機械手液壓系統(tǒng)的工作原理.........................................................................................153.3液壓系統(tǒng)的組成原理.................................................................................

16、............................163.4液壓傳動機械手的特點.........................................................................................................163.5機械手的動作順序...........................................................

17、......................................................173.6平衡臂機械手總體布局方案的確定.....................................................................................18第四章液壓系統(tǒng)的設計液壓系統(tǒng)的設計..........................................

18、.....................................184.1液壓系統(tǒng)控制回路的比較選擇....................................................................................................184.2液壓系統(tǒng)工作原理圖...................................................

19、..................................................................204.3液壓系統(tǒng)執(zhí)行元件的比較選擇....................................................................................................214.4液壓系統(tǒng)動力裝置的計算選擇..................

20、...................................................................................223平衡臂機械手的設計之PLC邏輯順序控制和液壓系統(tǒng)設計摘要：本次設計的液壓傳動機械手根據(jù)規(guī)定的動作順序，綜合運用所學的基本理論、基本知識和相關的機械設計專業(yè)知識，完成對機械手的設計，并繪制必要裝配圖、液壓系統(tǒng)圖、PLC控制系統(tǒng)原理圖。機械手的機械結(jié)構(gòu)采用油缸、螺桿、導向

21、筒等機械器件組成；在液壓傳動機構(gòu)中，機械手的手臂伸縮采用伸縮油缸，手腕回轉(zhuǎn)采用回轉(zhuǎn)油缸，立柱的轉(zhuǎn)動采用齒條油缸，機械手的升降采用升降油缸，立柱的橫移采用橫向移動油缸；在PLC控制回路中，采用的PLC類型為FX2N，當按下連續(xù)啟動后，PLC按指定的程序，通過控制電磁閥的開關來控制機械手進行相應的動作循環(huán)，當按下連續(xù)停止按鈕后，機械手在完成一個動作循環(huán)后停止運動。本設計擬開發(fā)的上料機械手可在空間抓放物體，動作靈活多樣，可代替人工在高溫和危險

22、的作業(yè)區(qū)進行作業(yè)，可抓取重量較大的工件。關鍵詞：機械手、液壓、控制回路、PLCThedesignofthehydraulicmanipulatAbstractThedesignofhydraulicdrivemanipulatmovementsundertheprovisionsoftheder，usethebasictheybasicknowledgerelatedmechanicaldesignexpertisecomprehens

23、ivelytocompletethedesign，drawingthenecessaryassemblyhydraulicsystemmapPLCcontrolsystemdiagram.Manipulatmechanicalstructureusingtanksscrewguidetubesothermechanicaldevicecomponent；Inthehydraulicdrivebodies，manipulatarmstre

24、tchingusingtelescopictank，rotatingcolumnoftanksusedrack，manipulatmovementsusingtankmovements，thecolumntakesthehizontalmovementoftanks；ThePLCcontrolcircuitusethetypeofFX2NPLC.Whenpressedfcommencement，PLCinaccdancewiththep

25、rescribedprocedures，throughthecontrolofthesolenoidvalvetocontroltheswitchmanipulatcrespondingmovescycle，afterpresstherowstopbuttonthemanipulatcompleteacycleofactiontostopaftertheholecampaign.Thedesignoftheproposeddevelop