5三维总装图
三自由度圆柱坐标平面关节型自动上下料的气动机械手设计
摘要
随着我国科学技术的不断突破、制造业的快速发展以及改革开放带来的市场竞争的加剧，企业在如何提高生产效率、保证产品质量和降低生产成本等问题上采取了大量措施，自动化和机械化在现代企业中普遍应用，这为机械手的广泛运用奠定了基矗机械手利用机械技术、人工智能技术、控制技术、传感器技术以及计算机技术，达到模仿人手和臂、实现某些动作功能的目的，机械手可以按照设置好的程序完成抓取动作、搬运物件或操作工具，特别是与数控车床、加工中心组合使用，不仅提高了柔性制造系统的加工效率，而且将人从反复、单一的工作中解脱出来，降低了人工成本，保证了产品质量。
随着对生态环境的重视和科学技术的突破，气动技术获得了迅速发展，同时气压传动系统相比于液压传动系统以及传统的电传动系统，介质提取处理方便、成本低，动作迅速、反应灵敏，使用安全、可靠，同时工作环境适应性强，可以在人难以承受的恶劣环境下工作，比如高温、震动、易燃、易爆、多尘埃、强磁、辐射等，可以完成不同环境下的作业要求，并保证工作质量，这些优点使机械手广泛应用于各个领域。而气动机械手是气压传动控制的机械手，作为机械手的一种，不仅具备机械手的基本优点，同时还兼备气动控制的特质，具有结构简单、动作迅速、平稳可靠、可控性好、易实现复杂动作等优点，因此将气动机械手与自动化生产线结合并进行有效应用的设计研究是十分重要的。
本课题是在数控车床和加工中心基础上而设计的一种示教型自动上下料机械手，此机械手主要与数控车床组合，实现加工过程的自动化，即由机械手完成上料-加工-下料整个生产节拍的过程。此机械手具有结构简单，易于拆装、组合的特点，同时通过驱动系统和控制系统的设计，实现加工过程的模拟，加深学生对专业知识的理解。
关键词:自动化；上下料；机械手；气压传动；PLC
Abstract
With the continuous breakthrough in science and technology, the rapid development of the manufacturing industry and the intensification of market competition brought by the reform and opening up, a large number of measures have been taken to improve the production efficiency, guarantee the quality of the products and reduce the cost of production. Automation and mechanization arewidely used in the present generation enterprises. This is a mechanical hand. The extensive use of the foundation is laid. The manipulator uses mechanical technology, artificial intelligence technology, control technology, sensor technology and computer technology to achieve the purpose of imitating the hands and arms and realizing certain action functions. The manipulator can carry out the grasping, handling, or operating tools according to the set program, especiallywith the CNC lathe and the machining center. Combined use, not only improves the processing efficiency of the flexible manufacturing system, but also relieves people from repeated and singlework, reduces the labor cost and ensures the quality of the product.
With the attention to the ecological environment and the breakthrough of science and technology, the pneumatic technology has developed rapidly. At the same time, comparedwith the hydraulic transmission system and the traditional electric transmission system, the pneumatic transmission system is convenient, low cost, quick action, sensitive reaction, safe and reliable operation, and adaptability ofworking environment. Strong, it canwork under unbearable environment, such as high temperature,vibration, flammable, explosive, dust, strong magnetism, radiation and so on. It can fulfill the job requirements under different environment and guarantee the quality ofwork. These advantages make the manipulatorwidely used invarious fields. Pneumatic manipulator is a mechanical hand controlled by pneumatic transmission. As one of the mechanical hand, it not only has the basic advantages of the manipulator, but also has the characteristics of pneumatic control. It has the advantages of simple structure, quick action, stable and reliable, good controllability and easy realization of complex action. The design and research of combining production lineswith effective application isvery important.
This topic is a kind of teaching type automatic up and down manipulator designed on the basis of CNC lathe and machining center. This manipulator is mainly combinedwith numerical control lathe to realize the automation of the processing process, that is, the manipulator completes the process of the overall production of the feeding, processing and cutting. This manipulator has the characteristics of simple structure, easy disassembly and combination. At the same time, through the design of the driving system and control system, the simulation of processing process is realized, and the students' understanding of professional knowledge is deepened.
Keywords: automation; loading and unloading; manipulator; pneumatic transmission; PLC
目录
第1章绪论1
1.1选题背景1
1.2设计目的1
1.3发展现状和趋势1
第2章机械手的组成3
2.1执行机构3
2.2.1手部3
2.1.2腕部3
2.1.3手臂4
2.1.4行走机构4
2.1.5机座4
2.2驱动系统4
2.3控制系统5
2.4位置检测系统5
第3章机械手总体设计6
3.1主要技术参数6
3.2主要部件及其运动7
3.3总体结构设计8
第4章手部设计9
4.1确定手部结构9
4.2手部驱动力计算9
4.3手部夹紧力的计算10
4.4手部夹紧缸的设计计算11
4.4.1夹紧缸主要尺寸的计算11
4.4.2缸体结构及验算12
4.4.3活塞杆的设计计算13
第五章手臂的设计15
5.1手臂结构的设计15
5.1.1气缸的校核16
5.1.2活塞杆的计算16
5.1.3缸筒壁厚的选择19
5.2手臂整体结构图20
第6章机身的设计21
6.1设计时注意的问题21
6.2机身的升降回转运动22
6.2.1机身升降运动22
6.2.2机身回转运动22
6.2.3气压升降缸设计计算23
6.2.4气压摆动缸设计计算25
6.3机身整体结构图30
第7章气压系统设计30
7.1气压系统简介30
7.2气压系统方案设计31
7.3气压系统的控制回路设计31
第8章机械手PLC控制系统设计31
8.1机械手的工艺过程31
8.2机械手工作流程33
8.3 PLC控制系统程序设计35
8.3.1机械手动作顺序表35
8.3.2现场器件与PLC内部继电器对照表36
8.3.3 PLC接线图36
8.4.4梯形图37
8.4.5指令程序表39
结论40
谢辞41
参考文献42
A装配图
摆动气缸法兰
齿轮齿条摆动气缸
夹持式手部
升降回转部分
水平伸缩气缸
轴承固定座
2摘要
3设计所包含文件
4设计参数及方案
6目录
1字数
