摘要本课题针对如何搬运箱式货品这个问题进行设计，要求在生产过程中能够自动地将产品从一条传输线转移到另一条传输线，有产品的抓取、放下和移动动作。现在已经有很多企业用机器人来完成工作，不过由于产品的不同，机器人的末端执行器“机器手”则多种多样。而箱式产品的机器手有特别的要求，本课题要求抓取的箱式货品质量为50kg，包装箱的材质为牛皮纸箱。对于手爪抓取放松的动作时间是单独可调的。综合机械手各个系统的设计，通过对不同方案的比较得出最佳的设计，并进行机械结构的详细设计，对关键零部件进行分析。针对本设计比较各种控制方式，设计合适的控制系统。采用气动驱动方式和可编程控制器进行控制，并介绍传感器的选择及应用，完成控制器的接口电路设计及控制程序的编写，最后设计系统的控制电路图和程序流程图。最后对全篇进行总结，对关于箱式货品搬运机器手的设计进行综合陈述，对装置的改进提出展望，并对箱式货品搬运机器手的未来发展前景论述。46023
毕业论文关键字：箱式货品；搬运；机器手；可编程控制器；气动驱动
ABSTRACT
This topic for how to handle the goods in the box the design requires being able to automatically products from a transmission line of a transfer to another transmission line in the production process, products to grab that is laid down and move. There has been a many companies use robots to do work, but due to the product, the end of the robot and execution for the machine hand are perse. And box products, machine hand have special requirements, this topic request crawl type and quality of goods is 50kg, packing material for kraft paper box. For the gripper to relax the action time is inpidually adjustable. Comprehensive mechanical hand each system design. Live in different schemes comparison optimum design, and detailed design of the mechanical structure, carries on the analysis to the key parts. According to the comparison of different control methods, design appropriate control system. By gas driven way and programmable logic controller (PLC) control and introduces the selection and application of sensor, controller interface circuit design and control procedures of the preparation, the final design of the system control circuit diagram and program flow chart. Finally the entire summary, on a box of goods handling robot design were synthetic statements, and puts forward the improvement of device, and the future prospects for the development of the box of goods handling machine hand on The.
Keywords: box type goods; handling; robot hand; programmable controller; pneumatic drive
目 录
第一章 绪论 1
1.1引言 1
1.2研究背景与意义 1
1.3国内外研究近状与发展趋向 2
第二章 搬运机械手总体方案设计 3
2.1课题认识与总体方案设计 3
2.1.1机械手结构设计 3
2.1.2驱动装置的选择 4
2.1.3控制部分设计 4
2.1.4传感检测部分 5
第三章 机械结构设计与计算 6
3.1搬运机械手运动过程分析 6
3.2机械手的组成 6
3.3机械手的受力分析及有关计算 7
3.3.1机械手爪受力分析图 8
3.3.2机构的静力学计算 8
3.3.3控制机械手爪夹紧气缸的设计 9
3.3.4控制手爪张开与夹紧气缸b的直径计算 9 箱式货品搬运机械手系统设计+CAD图纸:http://www.youerw.com/jixie/lunwen_47667.html