平衡臂機(jī)械手的設(shè)計(jì)之plc邏輯順序控制和液壓系統(tǒng)設(shè)計(jì)

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

2、........................................................................................41.1工業(yè)機(jī)器人...........................................................................................................................

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

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

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

6、...........61.2.2應(yīng)用簡況...............................................................................................................................71.2.3國內(nèi)外機(jī)械人發(fā)展趨勢........................................................

7、...............................................71.3機(jī)械手的組成和分類.......................................................................................................................91.3.1機(jī)械手的組成.............................

8、..........................................................................................91.3.2機(jī)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(jī)械手設(shè)計(jì)內(nèi)容及基本要求........................................................111.4.2重點(diǎn)研究的問題：....

10、.........................................................................................................111.4.3本次設(shè)計(jì)的意義.....................................................................................................

11、...........11第二章機(jī)械手機(jī)械結(jié)構(gòu)的設(shè)計(jì)計(jì)算機(jī)械手機(jī)械結(jié)構(gòu)的設(shè)計(jì)計(jì)算...........................................................122.1機(jī)械手機(jī)構(gòu)的分析與設(shè)計(jì).......................................................................................................12

12、2.1.1機(jī)械手的自由度............................................................................................................122.1.2坐標(biāo)形式.........................................................................................

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

14、..............................15第三章平衡臂機(jī)械手總體設(shè)計(jì)方案平衡臂機(jī)械手總體設(shè)計(jì)方案...........................................................153.1機(jī)械手總體系統(tǒng)的設(shè)計(jì).......................................................................................

15、.................153.2液壓機(jī)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(jī)械手的特點(diǎn).........................................................................................................163.5機(jī)械手的動作順序...........................................................

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

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(jì)算選擇..................

20、...................................................................................223平衡臂機(jī)械手的設(shè)計(jì)之PLC邏輯順序控制和液壓系統(tǒng)設(shè)計(jì)摘要：本次設(shè)計(jì)的液壓傳動機(jī)械手根據(jù)規(guī)定的動作順序，綜合運(yùn)用所學(xué)的基本理論、基本知識和相關(guān)的機(jī)械設(shè)計(jì)專業(yè)知識，完成對機(jī)械手的設(shè)計(jì)，并繪制必要裝配圖、液壓系統(tǒng)圖、PLC控制系統(tǒng)原理圖。機(jī)械手的機(jī)械結(jié)構(gòu)采用油缸、螺桿、導(dǎo)向

21、筒等機(jī)械器件組成；在液壓傳動機(jī)構(gòu)中，機(jī)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(jī)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(dāng)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(guān)來控制機(jī)械手進(jìn)行相應(yīng)的動作循環(huán)，當(dāng)按下連續(xù)停止按鈕后，機(jī)械手在完成一個動作循環(huán)后停止運(yùn)動。本設(shè)計(jì)擬開發(fā)的上料機(jī)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(jìn)行作業(yè)，可抓取重量較大的工件。關(guān)鍵詞：機(jī)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