本文旨在设计一种基于变形手爪的工件搬运系统，此系统能够自主搬运易碎、易变形、 外形尺寸不规则的工件。介绍了国内外气动搬运机械手的研究现状；根据任务书要求，提出了工件搬运系统的总 体方案；对一种变形手爪作了分析与改进，通过选型分析、计算，确定了直角坐标型操作臂、 门架型整体外框架；建立三维模型，并进行运动仿真模拟。根据控制要求，选择西门子 S7-200 系列 PLC-CPU226 及电磁阀，并组建控制电路，编写相应程序；加工零件，完成工件搬运系统 实体组装。开机测试显示，搭建出来的系统能够较好地实现自主搬运易碎、易变形、外形尺寸不规 则工件的功能。68687

毕业论文关键词 气动工件搬运系统 柔性夹持器 PLC 控制器

毕 业 设 计 说 明 书 外 文 摘 要

Title Design of Workpiece Handling System for Flexible

 Gripper

Abstract

The Workpiece Handling System for Flexible Gripper was designed in this work, the system can carry workpieces which are fragile, easily deformed and irregular shape autonomously.

This work introduces the types and the current situation at home and abroad of the Pneumatic manipulator. According to the requirements of the task book,the overall conceptions of the Workpiece Handling System was advanced. A king of Flexible Grippers was analysed and ameliorated, through the selection of analysis, calculation and determine the Cartesian motion arm and gantry type overall frame were proposed by calculating and analyzing. 3D model was established for motion simulation. According to control requirements, SIEMENS S7-200 PLC-CPU226 and magnetic valve were selected, the control circuit was set up and corresponding program was written too. Parts were processed to complete assembly of Pneumatic manipulator entity.

The test showed that the system can realize the function of carrying workpieces which are fragile, easily deformed and irregular shape better.

Keywords Pneumatic Workpiece Handling System   Flexible Gripper  PLC Controller

本科毕业设计说明书 第 I 页

目 次

1 绪论 1

1.1 研究背景及意义 1

1.2 气动机械手结构设计研究现状 1

1.3 气动机械手控制和研究现状 4

1.4 本课题实现方法 5

2 气动搬运机械手总体方案设计 6

2.1 机械结构 6

2.2 控制系统 8

3 气动搬运机械手机械结构设计方案 10

3.1 气动手爪设计 10

3.2 操作臂 12

3.3 整体外框架方案 19

3.4