凸轮轴磨床上下料机械手设计..doc

摘 要 在对工业机械手总体构思和结构分析的基础上，结合上下料机械手的给定要求和功能，对机械手结构进行了系统的分析、设计和计算，并拟定了整体驱动系统和控制系统。 采用机电一体化设计思想，充分考虑机、电、软、硬件各自特点进行互补优化，对机械手整体结构、传动系统、驱动装置和控制系统进行了分析和设计。 在结构设计的过程中结合以往机械设计的经验确定了机械手的详细尺寸。在标准件的应用中，充分考虑实际情况和标准件的应用准则进行了选用。由于该机械手采用液压驱动，在油路的布置和规划中结合机械制造的基础，不但使油路符合制造的可行性，而且将油路布置成空间结构，是机械手的结构更加简洁和紧凑。 在传动系统和驱动装置的设计中，结合各个液压缸的动作，对液压油的流量和压力进行了分析，结合液压原理中各种常用回路的功能和各液压元件的选用原则，制定出了一套完整的液压系统。 在控制系统的设计过程中，采用PLC可编程控制器作为控制主机，行程开关的开合作为中间动作信号，在加上PLC内部延时继电器的使用对该机械手进行了编程，提出了一份有不同功能模块的梯形图。 通过以上各部分的工作，得出了实用化、高可靠性通用机械手的设计方案，对其他类型的数控系统的设计也有一定的借鉴价值。 关键词：机械手；结构设计；驱动系统；PLC 。 Abstract Camshaft grinding machine from top to bottom material manipulator design The industry manipulator overall idea and in structure analysiss foundation, in the union the yummy treats manipulator assigns the request and the function, has carried on systems analysis, the design and the computation to the manipulator structure, and has drawn up the whole driving system and the control system. uses the integration of machinery design concept, the full consideration machine, the electricity, the software and hardware respective characteristic carry on the supplementary optimization, to the manipulator overall construction, the transmission system, the drive and the control system has carried on the analysis and the design. Unified in structural designs process formerly the machine design the experience to determine manipulators detailed size. In the standard letter application, the full consideration actual situation and the standard letter application criterion carried on has selected. Because this manipulator uses the hydraulic pressure actuation, unifies machine manufactures foundation in the oil duct arrangement and the plan, not only causes the oil duct to conform to the manufacture feasibility, moreover arranges the oil duct the spatial structure, is manipulators structure is more succinct and is compact. In the transmission system and in drives design, unifies each hydraulic cylinders movement, has carried on