车床上下料机械手的设计（含全套CAD图纸）.pdf

车床上下料机械手的设计 1 摘 要 对工业机械手各部分机械结构和功能的论述和分析，设计了一种圆柱坐标形式机械 手。重点针对机械手的立柱、手臂、手爪等各部分机械结构以及机械手控制系统进行了 详细的设计。具体进行了机械手的总体设计，立柱结构的设计，机械手手臂结构的设计， 末端执行器 （手爪）的结构设计，机械手的机械传动机构的设计，机械手驱动系统的设 计。同时对液压系统和控制系统进行了理论分析和计算。基于PLC对机械手的控制系统 进行了深入细致的设计，通过对机械手作业的工艺过程和控制要求的分析，设计了控制 系统的硬件电路，同时编制了机械手的控制程序，达到了设计的预期目标。 关键词：机械手,可编程控制器PLC,液压伺服定位,电液系统 车床上下料机械手的设计 2 Abstract Integratting the knowledge of the past four years of Machine, discuss and analysis the each part and function of manipulator; design a kind of cylinderical coordinate manipulator used to pack and unload work piece for CNC machine tools. In particular, made the detailed design about base, arm, and end effector and the control system etc. including Total design, waist s construction design, the arm s construction design, the wrist s construction design, the end effector s construction design, and the drive system of manipulator. At the same time, analysis and compute the hydraulic pressure system and control system. Deeply design the manipulator s control system, which based on PLC. After analysis about the craft process and the requests of the manipulator, the hardware circuit and the control program of the manipulator then is designed. In a word, the design of the manipulator has come to the anticipant object. Keyways: Manipulator, Programmable Logic Controller, Hydraulic servo control, Electrohydraulic system 车床上下料机械手的设计 3 目 录 摘 要 1 Abstract2 1 绪论 1 1.1 选题背景 1 1.