Abstract

 
  Manipulator industrial robot systems traditional mandate, Robot is  one of  the  key components. Manipulator using  the mechanical structure  of screw-ball, slider,  and other mechanical devices composition;  Electric  have AC motor, inverter, sensor, and other electronic device components. The device  covers  a programmable control  technology,  position control technology, detection technology, Mechatronics is a typical  representative  of one of the  machines. This paper presents  a  manipulator by   three PLC  output pulse,  driving horizontal, the vertical axis transducer, control manipulator axis  horizontal  and vertical  positioning precision,micro-switches position  signal  transmission will  host PLC;  location close to the switching signal from the feedback from the  mainframe to the  PLC, through  the  exchange of  Motor reversion to control the  manipulator gripper  Zhang, thus achieving accurate manipulator movement functions. The  topics to  be developed by   the  Manipulator grasping  be up  in  space objects, movements  flexible,  diverse, can replace the artificial heat and dangerous operation conducted operations, According  to  the  workpiece can change the  campaign process and the requirements  of any changes to  the relevant parameters.
Key Words:  Manipulator, AC motor

目  录

摘  要 I
Abstract II
目  录 III
1  绪论 5
1.1  机器人 5
1.2  自动送料机构 6
1.2.1  自动送料机构的组成 6
1.2.2  自动送料机构的应用 7
1.2.3  自动送料机构的分类 7
1.3  课题研究内容及解决手段 8
1.4  课题研究意义 8
2  自动送料机构的结构方案和驱动方案选型 9
2.1  原始数据及资料 9
2.2  料槽形式及分析动作要求 9
2.3  自动送料机构结构及驱动系统选型 10
3  系统各主要组成部分设计 12
3.1  抓取机构设计 12
3.1.1  手部设计计算 12
3.1.2  腕部设计计算 16
3.2  液压驱动系统设计 19
3.2.1  手部抓取缸 20
3.2.2  腕部摆动液压回路 21
3.2.3  小臂伸缩缸液压回路 22
3.2.4  总体系统图 23
3.3  机身结构的设计 24
3.3.1  电机的选择 25
3.3.4  机座的机械结构示意图 28
3.4  自动送料机构的定位及平稳性确定 29
3.4.1  常用的定位方式 29
3.4.2  影响平稳性和定位精度的因素 29
3.4.3  自动送料机构运动的缓冲装置 30
结论语 32
致  谢 33
参 考 文 献 34

机械毕业设计|论文