……本科毕业设计说明书（论文）摘要本次设计的液压传动机械手根据规定的动作顺序，综合运用所学的基本理论、基本知识和相关的机械设计专业知识，完成对机械手的设计，并绘制必要装配图、液压系统图PLC控制系统原理图。机械手的机械结构采用油缸、螺杆、导向筒等机械器件组成；在液压传动机构中，机械手的手臂伸缩采用伸缩油缸，手腕回转采用回转油缸，立柱的转动采用齿条油缸，机械手的升降采用升降油缸，立柱的横移采用横向移动油缸；在PLC控制回路中，采用的PLC类型为FX2N，当按下连续启动后，PLC按指定的程序，通过控制电磁阀的开关来控制机械手进行相应的动作循环，当按下连续停止按钮后，机械手在完成一个动作循环后停止运动。本设计拟开发的上料机械手可在空间抓放物体，动作灵活多样，可代替人工在高温和危险的作业区进行作业，可抓取重量较大的工件。关键词：机械手液压控制回路PLCI……本科毕业设计说明书（论文）AbstractThedesignofhydraulicdrivemanipulatormovementsundertheprovisionsoftheorder，usethebasictheory,basicknowledgeandrelatedmechanicaldesignexpertisecomprehensivelytocompletethedesign，anddrawingthenecessaryassembly,hydraulicsystemmap,PLCcontrolsystemdiagram.Manipulatormechanicalstructureusingtanks,screw,guidetubesandothermechanicaldevicecomponent；Inthehydraulicdrivebodies，manipulatorarmstretchingusingtelescopictank，rotatingcolumnoftanksusedrack，manipulatormovementsusingtankmovements，thecolumntakesthehorizontalmovementoftanks；ThePLCcontrolcircuitusethetypeofFX2NPLC.Whenpressedforcommencement，PLCinaccordancewiththeprescribedprocedures，throughthecontrolofthesolenoidvalvetocontroltheswitchmanipulatorcorrespondingmovescycle，afterpresstherowstopbutton,themanipulatorcompleteacycleofactiontostopaftertheholecampaign.Thedesignoftheproposeddevelopmentoftheinformationonthemanipulatorcangraspupinspaceobjects，flexibleandvariedmovements，canreplacetheartificialheatanddangerousoperationconductedoperations，andcangraspthelargerworkpieces.Keywords：Manipulator、Hydraulic、ControlLoop、PLCII……本科毕业设计说明书（论文）目录摘要..................................................IAbstract.................................................II1前言....................................................11.1工业机器人简介...............................................11.2世界机器人的发展.............................................11.3我国工业机器人的发展........................................21.4我要设计的机械手............................................32手部结构................................................52.1概述.........................................................52.2设计时应考虑的几个问题......................................52.3驱动力的计算................................................63腕部结构................................................93.1概述........................................................93.2腕部的结构形式..............................................93.3手腕驱动力矩的计算..........................................104臂部结构...............................................134.1概述.......................................................134.2手臂直线运动机构............................................134.4手臂的横向移动.............................................164.5臂部运动驱动力计算.........................................175液压系统的设计.........................................205.1液压系统简介................................................205.2液压系统的组成.............................................
