摘 要
经过三年的学习，通过这种设计进一步了解学到的知识，了解机器人的结构组成和功能，这种设计是球坐标机器人。 简要介绍了机械手的概念，组成和分类。 本文对机械手进行了总体设计，确定了机器人的方案，确定了机器人的技术参数。 同时，计算旋转滚筒的驱动扭矩，并对机械手的其它部分也作出详细设计。
对于整个机械臂的总体方案设计，主要是基于腰座模式的构造、臂结构、执行器、传动系统等进行详细设计，且在设计过程中深入分析系统的执行能力，并说明其具体执行步骤。与此同时，依据相关参考资料内容，从理论分析方面对气压系统和控制系统进行论证。在对机械手的PLC控制进行设计时，预先设置好需要的相应参数。最终通过对控制系统内部电路的详细分析和设计，编制出相应的系统控制程序。
关键词：PLC控制；机械臂；液压缸驱动
Abstract
After three years of study, through this design, further understand the learned knowledge, understand the structure composition and
function of the robot, this design is cylindrical coordinate robot. The concept, composition and classification of robot are introduced
briefly. In this paper, the overall design of robot is carried out, the scheme of robot is determined, and the technical parameters of
robot are determined. At the same time, the drive torque of the rotating cylinder is calculated and the other parts of the manipulator
are also designed in detail.
The overall scheme design of the whole manipulator is mainly based on the lumbar seat mode, arm structure, actuator, transmission
system, etc., for detailed design, and the performance ability of the system is analyzed in depth during the design, and the specific
execution steps are described. At the same time, the hydraulic system and control system are demonstrated from the theoretical analysis
according to relevant reference materials. When designing the PLC control of the manipulator, set the required parameters in advance.
Finally, through the detailed analysis and design of the internal circuit of the control system, the corresponding system control
program is developed, and finally the combined production line of the manipulator, lathe and milling machine is formed.
Keywords: PLC ; mechanical arm;hgdraulic cglinder
目 录
第1章 绪论................................................................
1.1 引言...............................................................
1.2 机械手的应用现状....................................................
1.3 机械手的应用意义....................................................
1.4机械手的组成与分类..................................................
1.4.1机械手的组成......................................................
1.4.2机械手的分类......................................................
1.5本课题的目的和意义...................................................
1.6本课题应解决的主要问题及技术要求....................................
第2章球形罩铆接机械臂的总体方案设计......................................
2.1机械臂的动作要求............................................
2.2机械臂的技术参数..................................................
2.3机械臂的驱动方案设计...................................................
2.4机械臂的控制方案设计......................................................
第3章机械手臂部机构设计........................................
3.1机械臂的机构选择..................................................
3.2手臂偏重力矩的计算.............................................
3.3手臂伸缩液压缸驱动及参数计算....................................
第4章液压泵的选择及液压系统的设计....................................
4.1液压泵的选择.................................................
4.1.1液压伸缩缸的流量计算.........................................
4.1.2确定液压泵的额定流量........................................
4.1.3确定液压泵的额定压力.....................................
4.2液压系统的原理..............................................
第5章机械臂的控制系统.....................................................
5.1 PLC控制系统设计的步骤.............................................
5.2 控制要求...........................................................
5.3 PLC的I/O分配表...................................................
5.4 控制系统及原理....................................................
总结.......................................................................
参考文献....................................................................
