基于PLC的上下料机械手设计(含CAD零件图装配图)(毕业论文18000字,CAD图纸11张,答辩PPT)
摘要
通过对大学本科四年的所学知识进行整合。
关键词:PLC;圆柱坐标;机械手;气压
Designon Loading and Unloading Manipulator Based on Programmable Logic Controller
Abstract
Integrate the knowledge that is learned through the past four years of undergraduate course, 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. This paper briefly introduces the concept of industrial robots, and their composition and classification. It makes an overall design of manipulator, and determines the rotation scheme and technical parameters of the manipulator. At the same time, the driven torque of the rotary fuel tank is calculated. In particular, made the detailed design about each part of the machine structure such as base, arm and end effector, and the control system. including Total design, waist’s construction design, the arm’s construction design, the end effector’s construction design, and the drive system of manipulator. Meanwhile, 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 is designed. In a word, the design of the manipulator has come to the anticipant object, that is, through combinating manipulator with CNC lathe, CNC milling machine and milling center, eventually form the production line, and achieve the manufacturing process of automation, no humanizing.
Keywords:PLC; cylindrical coordinates; robot; pressure
目录
第一章 绪论 1
1.1 引言 1
1.2 搬运机械手的应用现状 1
1.3 机械手的应用意义 2
1.4 机械手的构成和分类 3
1.4.1机械手的构成 3
1.4.2机械手的分类 4
第二章 上下料机械手气压系统理论分析和计算 9
2.1气压传动系统设计计算 9
2.1.1确定气压系统基本方案 9
2.1.2绘制机械手气压系统的设计 10
2.13确定液压系统的主要参数 11
2.14确定液压系统的主要参数 12
2.2电机选型有关参数计算 15
2.3 本章小结 17
第三章 机械手的总体方案设计 18
3.1 机械手的运行方案设计与流程 18
3.1.1机械手的运行方案 18
3.1.2机械手的零部件选用 21
3.1.3机械结构设计 21
3.2本章小结 24
第四章 上下料机械手的操控系统 25
4.1 PLC操控系统设计的步骤 25
4.2 操控系统的要求 25
4.3 操控系统及原理 29
4.3.1 系统原理图 29
4.3.2开机程序 31
4.3.3初动程序 32
4.3.4选择运行模式程序 33
4.3.5机械手自动运行程序 33
4.3.6机械手手动运行程序 34
4.3.7系统报警程序 35
4.3.8停止程序 35
4.3.9复位程序 37
4.4 本章小结 37
第五章 总结 38
参考文献 39
致谢 40
附录 41