平面关节型搬运机器人

摘要本文设计一种平面关节型搬运机器手，该机器手由底座、机身，抓取装置和控制系统组成。底座由两个平面关节和一个转轴组成，可以在水平面上旋转和平移。机身由三个平面关节组成，可以在垂直平面上旋转和平移。抓取装置由机械手爪和气动缸控制组成，可以实现对物体的抓取和释放。该机器手具有结构简单、工作稳定、移动灵活、抓取精度高等特点，适用于工业生产线上的物料搬运和组装作业。以取代人力完成危险、重复或高精度的任务，与传统生产方式相比，可以提高生产效率和质量，降低成本和风险。在机械部分，我们将着重于整体结构的设计，包括气缸的选择与安装，以及各种零部件的结构设计。在气动部分，我们将提供搬运机械手的气动原理图，而在控制部分，我们将着重于程序的设计与调试。本文使用西门子(S7-200)指令进行编程，并提供了一系列梯形图、语句表以及清晰易懂的流程图。关键词：机械手；搬运；气缸AbstractThis paper designs a planar joint type handling robot,which consists of a base,a body,agripping device and a control system.The base consists of two planar joints and a pivot,which can be rotated and translated in the horizontal plane.The body consists of three planarjoints that can rotate and translate in the vertical plane.The gripping device consists of arobotic claw and a pneumatic cylinder control,which can realize the gripping and releasing ofobjects.The robot hand has the features of simple structure,stable work,flexible movementand high gripping accuracy,which is suitable for material handling and assembly operationson industrial production lines.To replace manpower for dangerous,repetitive orhigh-precision tasks,it can improve production efficiency and quality,reduce cost and riskcompared with traditional production methods.In the mechanical part,we will focus on thedesign of the overall structure,including the selection and installation of cylinders,as well asthe structural design of various components.In the pneumatic part,we will provide thepneumatic schematic of the handling manipulator,while in the control part,we will focus onthe design and debugging of the program.In this paper,we use Siemens (S7-200)instructionsfor programming and provide a series of ladder diagrams,statement tables and clear and easyto understand flowchartsKey words:Manipulator;Handling;Cylinder目录第一章引言…1.1研究背景及意义…1.2国内外研究现状…1.3研究内容……2第二章机械手总体方案的设计……32.1手指设计…32.1.1手指设计时要注意的问题…2.2小臂的设计……52.3大臂结构的设计……62.4轴的设计计算……72.4.2轴承摩擦力矩的计算…第三章驱动系统设计…3.1驱动的方式……103.2伺服系统的选择……113.3气缸的设计……123.3.】夹紧气缸的计算…123.3.2伸缩气缸的计算…153.3.3回转气缸的计算…19第四章控制系统设计……214.1电磁铁动作顺序……214.2I/0分配……214.3PLC控制梯形图…22第五章总结…++40+++…24参考文献……25附录……26致谢……30