摘要

经过几年的学习，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。简要介绍了铆接装配机输送与检测装置的概念，组成和分类。本文对铆接装配机输送与检测装置进行了总体设计，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，并对铆接装配机输送与检测装置的其它部分也作出详细设计。

对于整个铆接装配机输送与检测装置的总体方案设计，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。在对铆接装配机输送与检测装置的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；铆接装配机；输送与检测装置；液压缸驱动

Abstract

After several years of learning, we can further understand the knowledge learned and understand the structure composition and function of the robot through this design, and this design is a spherical coordinate robot.The concept of conveying, composition and classification of riveting assembly machine is briefly introduced.This paper designed the conveying and detection device, determines the robot scheme and determines the technical parameters.Meanwhile, the driving torque of the rotating drum is calculated, and other parts of the riveting assembly machine transmission and detection device are also designed in detail.

The overall scheme design of the whole conveying and detection device of the riveting assembly machine is mainly designed based on the structure, arm structure, actuator and transmission system of the waist seat mode, and analyzes the execution ability of the system in the design process and explains the specific execution steps.At the same time, according to the relevant reference data content, from the theoretical analysis of the air pressure system and control system demonstration.When designing the PLC control of the riveting assembly machine conveyor and detection device, the corresponding parameters are set in advance.Finally, the detailed analysis and design of the internal circuit of the control system.

Key words: PLC control; riveting assembly machine; transmission and detection device; hydraulic cylinder drive

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