毕业设计课题名称多用搅拌机械手设计分院/专业XXXXXXXXXXXXXXXXXXXXXXX班级XXXXXXXXXXXXX学号XXXXXXXXXXXXXXXXX学生姓名XXXXXXXXXXXXXXXX指导教师：XXXXXXXXXXXXXX年XX月XX日摘要随着市场化程度的逐渐提高，越来越多的企业开始在自己的工厂内部实行自动化，不仅仅在于能够大幅度提高产品的生产速率，也能提高产品的质量，越来越多的机器人已经被越来越多的工厂所接受并开始大规模的使用。一个国家的机器人的使用程度、应用规模和技术水平也能深刻地反映这个国家的自动化工业水平。目前，常用的搅拌设施虽然可以满足施工的要求，但是比较笨重，不能灵活操作。因此，针对这种状况我们此次设计的搅拌设施比较灵活，还通过电气自动化技术的应用使得搅拌设施更加智能化。本次设计主要包括机械手总体结构的改进方案，以及对机械手的结构进行调整然后设计出全新的搅拌手。随后按照设计的图纸产生出气动原理图。然后，根据实际应用的环境对搅拌机械手的控制PLC电路进行设计。关键词：搅拌机械手；气压传动；可编程控制PLCAbstractWiththegradualincreaseinthedegreeofmarketization,moreandmorecompanieshavebeguntoimplementautomationwithintheirownfactories,notonlytosignificantlyincreasetheproductionrateofproducts,butalsotoimprovethequalityofproducts.MoreandmorerobotshavealreadyItwasacceptedbymoreandmorefactoriesandbegantobeusedonalargescale.Thedegreeofuse,thescaleofapplication,andtheleveloftechnologyofacountry'srobotscanalsoprofoundlyreflectthecountry'slevelofautomation.Atpresent,althoughthecommonlyusedstirringfacilitiescanmeettheconstructionrequirements,theyarerelativelybulkyandcannotbeoperatedflexibly.Therefore,inviewofthissituation,wehavedesignedagitationfacilitiesthataremoreflexibleandalsomakethemixingfacilitiesmoreintelligentthroughtheapplicationofelectricalautomationtechnology.Thisdesignmainlyincludestheimprovementoftheoverallstructureoftherobot,aswellastheadjustmentofthestructureoftherobotandthedesignofanewmixinghand.Then,accordingtothedesigndrawings,apneumaticschematicisproduced.Then,accordingtotheactualapplicationenvironment,thecontrolPLCcircuitofthemixingrobotisdesigned.Keywords:MixingManipulatorPneumaticDriveProgrammableControlPLC目录摘要..........................................................................IAbstract.....................................................................II第1章绪论...................................................................11.1研究背景及意义.......................................................11.2研究目的.............................................................11.3设计的主要内容.......................................................1第2章总体结构与设计方案.....................................................32.1设计主要参数.........................................................32.2搅拌机械手总体结构方案...............................................32.3搅拌机械手驱动方案确定...............................................42.4搅拌机械手控制方案确定...............................................5第3章机器人本体及机械手设计.................................................63.1搅拌机器底座设计......................................................63.2第一关节的设计.......................................................63.2.1结构设计........................................................63.2.2回转气缸工作压力计算............................................73.2.3上升丝杠的选型..................................................73.2.4滚动轴承的选择..................................................83.3第二关节的设...
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