气动搬运机械手的plc控制设计大学学位论文.doc

摘要 用于再现人手的的功能的技术装置称为机械手，机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。 工业机器人的技术水平和应用程度在一定程度上反应了一个国家工业自动化的水平，随着工业自动化的普及和发展搬运机械手的应用也逐渐普及，主要在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运, 可以更好地节约能源和提高运输设备或产品的效率，满足现代经济发展的要求。动作过程包括：下降、夹紧、上升、慢进、快进、慢进、延时、下降、放松、上升、慢退、快退、慢退；其操作方式包括：回原位、手动、单步、单周期、连续； 关键词: 机械手，搬运，结构，气压，可编程控制器（PLC）。 Abstract The technology device used to reproduce the staff function is called a mechanical hand, the mechanical hand is imitate the action of the manpower, to achieve a given program, track and requirements automatically grab, handling or operation of automatic mechanical device. Robots can replace the hands of heavy labor, significantly reduce the labor intensity, improve working conditions, and improve labor productivity and automation level. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, with the popularity of industrial automation and development, handling the application of mechanical hand gradually popularity, mainly in the automotive, electronic, mechanical processing, food, medicine and other areas of the production line or cargo transport, we can be more good to save energy and improve the transport efficiency of equipment or products, to reduce restrictions on other modes of transportation to meet the requirements of modern economic development. This manipulator is mainly used for metal optic axis handling work, can match with machine tools (such as forging bed, NC machine tools, combination machine tools) or assembly line of weight to realize cylindrical work pieces handling. The robot will use the three degrees of freedom for the pneumatic drive. First, I design and calculate the hand, wrist, arm and various parts of the mechanical hand. Then choose the proper drive method and transmission method, build the mechanical structure of the mechanical hand. Second, design and wire the electrical control system o