機(jī)械手-氣動(dòng)機(jī)械手回轉(zhuǎn)臂結(jié)構(gòu)設(shè)計(jì),機(jī)械手,氣動(dòng),回轉(zhuǎn),結(jié)構(gòu)設(shè)計(jì) 摘 要 本文簡(jiǎn)要介紹了機(jī)器人的概念，機(jī)械手的組成和分類(lèi)，機(jī)械手的自由度和坐標(biāo)形式，氣動(dòng)技術(shù)的特點(diǎn)，PLC控制的特點(diǎn)及國(guó)內(nèi)外的發(fā)展?fàn)顩r。 本文對(duì)機(jī)械手進(jìn)行總體方案設(shè)計(jì)，確定了機(jī)械手的坐標(biāo)形式和自由度，確定了機(jī)械手的技術(shù)參數(shù)。同時(shí)，計(jì)算并設(shè)計(jì)出了回轉(zhuǎn)氣缸、伸縮手臂的機(jī)械機(jī)構(gòu)。 設(shè)計(jì)出了機(jī)械手的氣動(dòng)系統(tǒng)，繪制了機(jī)械手氣壓系統(tǒng)工作原理圖，對(duì)氣壓系統(tǒng)工作原理圖的參數(shù)化繪制進(jìn)行了研究，大大提高了繪圖效率和圖紙質(zhì)量。 利用可編程序控制器對(duì)機(jī)械手進(jìn)行控制，根據(jù)機(jī)械手的工作流程制定了可編程序控制器的控制方案，設(shè)計(jì)出了人工移動(dòng)式（無(wú)動(dòng)力）點(diǎn)位示教控制軟件，并畫(huà)出了機(jī)械手的工作時(shí)序圖，并繪制了可編程序控制器的控制程序。 關(guān)鍵詞：工業(yè)機(jī)器人；機(jī)械手；氣動(dòng)；可編程序控制器（PLC）； Abstract At first, the paper introduces the conception of the industrial robot and the eler. dary information of the development briefly . What’s more, the paper accounts for the background and the primary mission of the topic. The paper introduces the function, composing and classification of the manipulator , tells out the free-degree and the form of coordinate . At the same time, the paper gives out the primary specification parameter of this manipulator, The paper designs the structure of the hand and the equipment of the drive of the manipulator , This paper designs the structure of the wrist , computes the needed moment of the drive when the wrist wheels and the moment of the drive of the pump. The paper designs the structure of the arm. The paper designs the system of air pressure drive and draws the work principle chart , the manipulator uses PLC to control . The paper institutes two control schemes of PLC according to the work flow of the manipulator . The paper draws out the work time sequence chart and the trapezia chart . What’s more , the paper workout the control program of the PLC , Keywork: industrial robot；manipulator；pump；air pressure drive；PLC 目 錄 摘要（中文）.........................................................Ⅰ （英文）.........................................................Ⅱ 第一章 緒論 1.1機(jī)械手概述.......................................................1 1.2機(jī)械手的組成和分類(lèi)...............................................1 1.2.1機(jī)械手的組成...............................................1 1.2.2機(jī)械手的分類(lèi)...............................................3 1.3國(guó)內(nèi)外發(fā)展?fàn)顩r...................................................4 1.4課題的提出及主要任務(wù).............................................5 1.4.1課題的提出.................................................5 1.4.2課題的主要任務(wù).............................................6 第二章 機(jī)械手的設(shè)計(jì)方案 2.1機(jī)械手的座標(biāo)型式與自由度........................................7 2.2機(jī)械手的手部結(jié)構(gòu)方案設(shè)計(jì)........................................8 2.3機(jī)械手的手腕結(jié)構(gòu)方案設(shè)計(jì)........................................8 2.4機(jī)械手的手臂結(jié)構(gòu)方案設(shè)計(jì)........................................8 2.5機(jī)械手的驅(qū)動(dòng)方案設(shè)計(jì)............................................8 2.6機(jī)械手的控制方案設(shè)計(jì)............................................8 2.7機(jī)械手的主要參數(shù)................................................9 2.8機(jī)械手的技術(shù)參數(shù)列表............................................9 第三章 手臂伸縮，回轉(zhuǎn)氣缸的設(shè)計(jì)與校核 3.1手臂伸縮部分尺寸設(shè)計(jì)與校核......................................11 3.1.1手臂伸縮部分方案一的尺寸設(shè)計(jì)與校核........................11 3.1.2手臂伸縮部分方案二的尺寸設(shè)計(jì)與校核........................11 3.1.3導(dǎo)向裝置..................................................14 3.1.4平衡裝置..................................................14 3.2手臂回轉(zhuǎn)部分尺寸設(shè)計(jì)與校核......................................14 3.2.1尺寸設(shè)計(jì)..................................................14 3.2.2尺寸校核..................................................14 第四章 氣動(dòng)系統(tǒng)設(shè)計(jì)..................................................16 第五章 機(jī)械手的PLC控制設(shè)計(jì) 5.1可編程序控制器的選擇及工作過(guò)程..................................18 5.1.1可編程序控制器的選擇......................................18 5.1.2可編程序控制器的工作過(guò)程..................................20 5.2 S7-200的擴(kuò)展模塊...............................................21 5.2.1數(shù)字量I/O擴(kuò)展模塊........................................21 5.2.2模擬量擴(kuò)展模塊............................................22 5.2.3通信模塊..................................................22 5.2.4功能模塊..................................................23 5.3 PLC程序的實(shí)現(xiàn)..................................................23 5.4 本程序設(shè)計(jì)思路.................................................24 第六章 上位界面的設(shè)計(jì)...............................................27 第七章 結(jié)論...........................................................31 結(jié)束語(yǔ).................................................................32 參考文獻(xiàn)...............................................................33 IV