业设计说明书
2020年4月19日
1
机械手手爪部位毕目 录
摘要 ······························································································ 1 引言 ······························································································ 1 1.机械手总体方案设计 ······························································· 2 1.1设计要求 ············································································· 2 1.2运动形式的选择·································································· 2 1.3驱动方式的选择·································································· 4 1.4总体结构设计 ····································································· 5 2.机械手手部设计 ······································································· 6 2.1结构分析 ············································································· 6 2.2计算分析 ············································································· 6 3.PLC
控
制
系
统
设
计
······································································································ 11 3.1
机械手移动工件控制系统的控制要求
··································································································· 11
3.2机械手移动工件控制系统的PLC选型和资源配置 ··································································································· 13 3.3
机械手移动工件控制系统的
PLC
程序
··································································································· 1
文档仅供参考，不当之处，请联系改正。
4 4.
动
画
制
作
······································································································ 18 4.1
建
立
机
械
手
模
型
··································································································· 18 4.2
制
作
机
械
手
的
动
画
··································································································· 18 结
束
语
······································································································ 26 致
谢
······································································································ 26 参
考
文
献
······································································································ 26 附
录
······································································································ 27
1
2020年4月19日
文档仅供参考，不当之处，请联系改正。
摘 要
机械手设计包括机械结构设计，检测传感系统设计和控制系统设计等，是机械、电子、检测、控制和计算机技术的综合应用。本课题经过对设计要求的分析，设计出机械手的总体方案，重点阐述了手部结构的设计以及控制系统硬软件的设计，完成了整个系统工作的动画设计。实现了机械手的基本搬运功能，达到了预期要求，具有一定的应用前景。 关键词：机械手 PLC 动画
引 言
随着世界经济和技术的发展，人类活动的不断扩大，机器人应用正迅速向社会生产和生活的各个领域扩展，也从制造领域转向非制造领域，各种各样的机器人产品随之出现。像海洋开发、宇宙探测、采掘、建筑、医疗、农林业、服务、娱乐等行业都提出了自动化各机器人化的要求。随着机器人的产生和大量应用，很多领域，许多单一、重复的机械工作由机器人（也称机械手）来完成。
2
2020年4月19日
文档仅供参考，不当之处，请联系改正。
工业机器人是一种能进行自动控制的、可重复编程的，多功能的、多自由度的、多用途的操作机, 广泛采用工业机器人，不但可提高产品的质量与产量，而且对保障人身安全，改进劳动环境，减轻劳动强度，提高劳动生产率，节约原材料消耗以及降低生产成本，有着十分重要的意义。和计算机、网络技术一样，工业机器人的广泛应用正在日益改变着人类的生产和生活方式。
机械手是一种模仿人手动作，并按设定的程序来抓取、搬运工件或夹持工具，机械手可在空间抓放物体，动作灵活多样，适用于可变换生产品种的中、小批量自动化生产，广泛应用于自动生产线、自动机的上下料、数控设备的自动换刀装置中。机械手一般由执行系统、驱动系统、控制系统和人工智能组成，主要完成移动、转动、抓取等动作。
控制系统是机械手的指挥系统，它经过控制驱动系统，让执行器按照规定的要求进行工作，并检测其正确与否。可编程控制器（PLC）是一种数定运算操作的电子系统，它将逻辑运算、顺序控制、时序、计数、算术运算等控制程序，用指令形式存放在存储器中，并经过数字式、模拟式的输入和输出，控制各种机械或生产过程。与继电器控制线路相比，PLC具有可靠性高、抗干扰能力强；编程简单、使用方便；设计、安装容易，维护工作量少；功能完善、通用性强；体积小、能耗低等特点。因此，机械手控制系统越平越多的由可编程控制器来实现。
3
2020年4月19日
相关推荐：
loading