悬挂式助力机械真空吸盘手抓的设计含3张CAD图+说明书

总装

悬挂式助力机械真空吸盘手抓的设计
摘要
工业机器人由操作机(机械本体)、控制器、伺服驱动系统和检测传感装置构成，是一种仿人操作，自动控制、可重复编程、能在三维空间完成各种作业的机电一体化自动化生产设备。特别适合于多品种、变批量的柔性生产。它对稳定、提高产品质量，提高生产效率，改善劳动条件和产品的快速更新换代起着十分重要的作用。
机械手在机械加工、冲压、铸、锻、焊接、热处理、电镀、喷漆、装配、轻工业、交通运输业等方面得到越来越广泛的应用。本文的机械手用于搬运物料，在本文中介绍它的组成和分类、自由度和座标型式、气动技术的特点及国内外的发展状况，对机械手进行总体方案设计，确定机械手的座标型式和自由度，确定机械手的技术参数，设计机械手的手臂结构，设计出机械手的气动系统，绘制机械手气压系统工作原理图。利用可编程序控制器对机械手进行控制，选取合适的PLC型号，根据机械手的工作流程制定可编程序控制器的控制方案，画出机械手的工作时的顺序功能图和梯形图，并编制可编程序控制器的控制程序。

关键词：机械手设计；物料搬运；气动；

Abstract
The industrial robot is composed of the operating machine(mechanical body), the controller, the servo drive system and the detection and sensing device. It is a kind of humanoid operation, automatic control, repeatable programming, and the mechanical and electrical integration automation production equipment that can completevarious operations in the three-dimensional space. It is especially suitable for flexible production of multiplevarieties and batches. It plays avery important role in stabilizing, improving product quality, improving production efficiency, improving labor conditions and upgrading products.
The manipulator is becoming more and morewidely used in mechanical processing, stamping, casting, forging,welding, heat treatment, electroplating, spray painting, assembly, light industry, transportation and transportation. In this paper, the manipulator is used to carry the material. In this paper, the composition and classification of the manipulator, the degree of freedom and coordinates, the characteristics of the pneumatic technology and the development status at home and abroad are introduced in this paper. The overall plan of the manipulator is designed, the coordinate type and the degree of freedom of the manipulator are determined, the technical parameters of the manipulator are determined and the hand of the manipulator is designed. The structure of manipulator is designed, and the pneumatic system of manipulator is designed, and theworking principle of manipulator pneumatic system is plotted. The programmable controller is used to control the manipulator, select the appropriate PLC model, draw up the control scheme of the programmable controller according to theworking process of the manipulator, draw the sequence function diagram and ladder diagram of the manipulatorworking, and compile the control program of the programmable controller.

Keywords: manipulator design; material handling; pneumatic;

目录
摘要1
Abstract 2
第一章、绪论4
1.1选题背景4
1.2设计目的5
1.3发展现状和趋势6
1.4工作原理及组成6
1.5机械手的应用与发展7
1.6研究内容8
第二章、总体设计9
2.1技术参数9
2.2工作原理分析9
2.3助力机械手方案设计10
第三章、真空吸盘的设计11
3.1动力学分析11
3.2真空吸盘的选取11
3.3真空发生器设计12
3.4其他元器件选用13
第四章、助力机械手系统设计15
4.1工作原理15
4.2运动分析15
4.3臂部设计16
4.3.1结构的选择17
4.3.2驱动力计算17
4.3.3工作压力和结构的确定19
4.3.4尺寸参数21
第五章、PLC简介22
5.1PLC简介22
5.2PLC发展趋势23
5.3PLC的结构和工作原理24
5.3.1PLC的组成24
5.3.2PLC程序的表达方式26
5.3.3PLC的工作方式27
第六章、技术经济分析31
6.1需求分析31
6.2控制系统的经济特点31
结论34
致谢35
参考文献40

管路

助力机械手总成

设计目录

设计所包含文件

设计字数统计

中英文摘要

工作原理