【作者】 冯毅；

【导师】 陶柯；

【作者基本信息】 沈阳工业大学 ， 机械电子工程， 2011， 硕士

【摘要】 机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置,它是在机械自动化生产过程中发展起来的一种新型装置,在生产过程中起着非常重要的作用。机械手能代替人类完成危险、重复、枯燥的工作,减轻人类劳动强度,提高劳动生产力,因此机械手得到了越来越广泛的应用。机械手自二十世纪六十年代初间世以来,经过40多年的发展,现在已经成为制造业生产自动化中重要的机电设备。目前,正式投入使用的绝大部分机械手属于第一代机械手,即程序控制机械手。这代机械手基本上采用点位控制系统,没有感觉外界环境信息的感觉器官,主要用于焊接、喷漆和上下料。第二代机械手具有感觉器官,仍然以程序控制为基础,但可以根据外界环境信息对控制程序进行校正。这代机械手通常采用接触传感器一类的简单传感装置和相应的适应性算法。本文简要介绍了摆动式机床自动上下料机械手的概念,以及机械手的机构组成,电气控制原理,气动技术的特点,PLC控制的特点及国内外的发展状况,可以说是对机械手发展过程与目前生产实际的总结。本文对摆动式机床自动上下料机械手进行了总体方案设计,确定了机械手的机构与运动形式,确定了机械手的各部分技术参数。同时,分别设计了机械手四个组成机构；计算出了带件运转时伺服电机所需的驱动力矩。绘制了摆动式机床自动上下料机械手电气工作原理图,设计出了机械手的PLC控制系统。选取了合适的PLC与运动模块型号,利用可编程序控制器与运动控制模块对机械手进行运动控制,根据机械手的工作流程制定了可编程序控制器的控制方案,画出了机械手工作时的梯形图,并编制了可编程序控制器的控制程序,是目前现有设备的真实构造。更多还原

【Abstract】 Manipulator is in automatic production process use a crawled and mobile workpiece function of automatic device, it is in the mechanical automation production process developed a kind of new type device, in the process of production plays a very important role. Robots can replace human consummately danger, repeat the boring work, ease human labor intensity and improve labor productivity, so robots have been applied more and more.Manipulator since the beginning of the twentieth century since the advent of the sixties, after 40 years of development, manufacturing automation has now become an important mechanical and electrical equipment. Currently, the vast majority of officially put into use are the first generation of robotic manipulator, the robot process control. do not feel the external environment information, sense organs, mainly used for welding, painting, and loading and unloading. Second-generation robot with sensory organs, is still in process control, information about the external environment but can be corrected on the control program. This generation of robot using contact sensor is usually a class of simple sensing devices and the corresponding adaptive algorithm.This paper introduces the swing Jichuang automatic loading and unloading robot concept, and the robot bodies, electrical control theory, pneumatic technology features, PLC control features and overseas development, can be said that the manipulator development process and the current Shengchan The actual summary.This paper swing machine autotransmitting manipulator were general scheme design, determine the manipulator institutions and forms of exercise, determine the manipulator each part of technical parameters. Meanwhile, are designed respectively manipulator four components institution, Calculated the take a running servo motor drive torque required.Mapped the swing machine autotransmitting manipulator electrical working principle diagram, the design gives the manipulator PLC control system. Select the proper motion module type PLC and, using the programmable controller and motion control module of manipulator on motion control, according to the working process of the manipulator has formulated of PLC control scheme and draw the manipulator job ladder diagram, and works out of PLC control procedures.更多还原