码垛机械手毕业设计_精品.doc

码垛机械手毕业设计 ABSTRACT? In? modern? industry,? the? automation? of? the? production? process? has? become? a? prominent? theme.Increasingly?high?level?of?automation?in?all?walks?of?life,?modern?processing?plant,?often?with? a?mechanical? hand? in? order? to? improve? production?efficiency,? to? complete? it? hard? for?workers? to? complete?the?work?or?risk? With? the? development? needs? of? industrial? automation,? mechanical? hand? more? and? more? important?in?industrial?applications.Used?to?reproduce?the?function?of?the?technical?staff?of?the?device? is? called? robot.Robot? is? modeled? on? the? part? of? staffing? action,? according? to? a? given? program,? automatically? track? and? requirements? capture,? handling?or?operation?of? the? automatic?mechanical? devices.Application? in? industrial? production? is? known? as? industrial? robot? manipulator.This? paper? mainly?describes?the?design?of?the?manipulator?calculationFirst,? the? article? describes? the? role? of? robot? palletizing,? robotic? palletizing? composition? and? classification,? indicating? the? degree? of? freedom? and? the? coordinates? in? the? form? of? the? whole? manipulator.Meanwhile,?this?paper,?the?machinery?of?the?main?performance?specifications?of?hand? parametersArticle?describes?the? robot?palletizer?design?theory?and?methodsprehensive?and?detailed? discussion?of?the?palletizing?robots?hand,?wrist,?arm?and?body?and?other?major?components?of?the? structural?designFinally,?PLC?control?for?robotic?palletizer? Key?words:? Palletizer robot,? hydraulic?transmission,? hydraulic?cylinder,? PLC?control 码垛机械手设计 III 目 录 1 绪论1? 1.2机械手的简史 1? 1.3工业机械手在生产中的应用 2? 1.4?机械手的组成3? 1.4.1?执行机构 3? 1.4.2?驱动机构 4? 1.4.3?控制系统分类 4? 1.5机械手的发展趋势4? 1.5.1国外机械手领域发展趋势:? 4? 1.5.2?我国机械手领域的现状及发展:? 4? 1.6?本章小结 5? 2? 机械手的总体设计方案 6? 2.1?机械手基本形式的选择 6? 2.2机械手的主要部件及运动? 7? 2.3驱动机构的选择7? 2.4?机械手的技术参数列表 7? 2.5手臂的配置形式7? 2.6位置检测装置的选择8? 2.7?本章小结 8? 3? 机械手手部的设计计算 9? 3.1概述? 9? 3.2?设计时应考虑的几个问题 9? 3.3?手部设计基本要求? 9? 3.4?典型的手部结构?10? 3.5机械手手