畢業(yè)設(shè)計(jì)(論文)題 目: 氣動(dòng)機(jī)械手升降臂結(jié)構(gòu)設(shè)計(jì)，面板操縱式（有動(dòng)力）點(diǎn)位示教部分控制軟件設(shè)計(jì)摘 要本文簡(jiǎn)要介紹了工業(yè)機(jī)器人的概念，機(jī)械手的組成和分類(lèi)，氣動(dòng)技術(shù)的特點(diǎn)，PLC控制的特點(diǎn),觸摸屏的特點(diǎn)及國(guó)內(nèi)外的發(fā)展?fàn)顩r本文對(duì)機(jī)械手進(jìn)行總體方案設(shè)計(jì)，確定了機(jī)械手的技術(shù)參數(shù)同時(shí)，設(shè)計(jì)計(jì)算了機(jī)械手的升降臂和回轉(zhuǎn)臂結(jié)構(gòu)，設(shè)計(jì)了機(jī)械手的手部結(jié)構(gòu)本文系統(tǒng)地研究了機(jī)械手的氣動(dòng)系統(tǒng)，對(duì)氣壓系統(tǒng)工作原理圖的參數(shù)進(jìn)行了了解，大大提高了繪圖效率和圖紙質(zhì)量利用可編程序控制器（PLC）對(duì)機(jī)械手進(jìn)行控制，選取了合適的PLC型號(hào)，根據(jù)機(jī)械手的工作流程制定了可編程序控制器的控制方案，對(duì)機(jī)械手的面板操縱式（有動(dòng)力）點(diǎn)位示教部分控制軟件進(jìn)行了設(shè)計(jì)關(guān)鍵詞:工業(yè)機(jī)器人；機(jī)械手；氣動(dòng)；可編程序控制器；觸摸屏；示教AbstractThis thesis gives a brief introduction of the conception of industrial robot and domestic and overseas development of industrial robot, including components and categories of manipulator, the characteristics of the system of air pressure drive technique and PLC, and the features of touch screen calibration.This thesis makes a general designation and decides the technique parameter of manipulator. Meanwhile, it designs the elevator arm and Rotary arm structure of manipulator as well as the construction of the hand part.This thesis focus on the analyzing of the air pressure drive system of manipulator and the study of the air pressure system working principle diagram datum, which helps a lot to make a improvement in charting.With the help of PLC we attain the controlling of manipulator. In this thesis, I choose the proper type of PLC, work out the manipulation program of PLC controller according to the working progress of manipulator, and design the manipulation software of the manipulation of Control panel (Dynamic) - Point Demonstration part.Keywords: ?industrial robot; manipulator; air pressure drive; PLC; touch screen;Demonstration目 錄摘要(中文) -----------------------------------------------------------I(英文) -----------------------------------------------------------II第一章 緒 論1.1工業(yè)機(jī)械手概述 ------------------------------------------------------------- 11.2機(jī)械手的組成和分類(lèi) --------------------------------------------------------- 11.2.1機(jī)械手的組成 --------------------------------------------------------- 11.2.2機(jī)械手的分類(lèi) ---------------------------------------------------------- 21.3 PLC與觸摸屏概述 ----------------------------------------------------------- 31.4國(guó)內(nèi)外發(fā)展?fàn)顩r ------------------------------------------------------------- 31.5課題的提出及主要任務(wù) ------------------------------------------------------- 41.5.1課題的提出 ------------------------------------------------------------ 41.5.2課題的主要任務(wù) -------------------------------------------------------- 5第二章 機(jī)械手的設(shè)計(jì)方案2.1機(jī)械手的類(lèi)型和自由度的選擇 ------------------------------------------------- 62.2機(jī)械手的驅(qū)動(dòng)方案設(shè)計(jì)-------------------------------------------------------- 62.3機(jī)械手的控制方案設(shè)計(jì)-------------------------------------------------------- 62.4機(jī)械手的手部結(jié)構(gòu)方案確定---------------------------------------------------- 62.5 機(jī)械手的手臂結(jié)構(gòu)方案設(shè)計(jì)-------------------------------------------- ------- 62.6機(jī)械手的主要參數(shù) ----------------------------------------------------------- 72.7機(jī)械手的技術(shù)參數(shù)列表 ------------------------------------------------------- 7第三章 手部結(jié)構(gòu)的選擇,手臂伸縮的選擇，升降、回轉(zhuǎn)氣缸的設(shè)計(jì)與校核3.1 夾持式手部結(jié)構(gòu) ------------------------------------------------------------ 9 3.1.1 手指的形狀和分類(lèi) ------------------------------------------------------ 9 3.1.2 設(shè)計(jì)時(shí)注意的問(wèn)題 ------------------------------------------------------ 93.2升降缸的尺寸設(shè)計(jì)與校核和伸縮缸的選擇 --------------------------------------- 9 3.2.1 氣缸的分類(lèi) ------------------------------------------------------------ 9 3.2.2 升降缸的尺寸設(shè)計(jì)與校核 ------------------------------------------------ 11 3.2.3 伸縮缸的選擇 ---------------------------------------------------------- 163.3 回轉(zhuǎn)氣缸的尺寸設(shè)計(jì)與校核 -------------------------------------------------- 16第四章 氣動(dòng)系統(tǒng)設(shè)計(jì) ------------------------------------------------------ 20第五章 機(jī)械手的PLC控制設(shè)計(jì)5.1可編程序控制器的選擇 ------------------------------------------------------- 215.2機(jī)械手可編程序控制器控制方案 ----------------------------------------------- 21 5.2.1 系統(tǒng)簡(jiǎn)介 -------------------------------------------------------------- 21 5.2.2可編程序控制器的工作流程設(shè)計(jì) ------------------------------------------- 21 5.2.3 可編程序控制器的存儲(chǔ)區(qū)設(shè)計(jì) -------------------------------------------- 225.3硬件、軟件的設(shè)計(jì)與調(diào)試 ---------------------------------------------------- 23 5.3.1 系統(tǒng)硬件設(shè)計(jì)與組態(tài) ---------------------------------------------------- 23 5.3.2 軟件設(shè)計(jì) -------------------------------------------------------------- 23 5.3.3 硬件調(diào)試與系統(tǒng)調(diào)試 ---------------------------------------------------- 235.3.4 梯形圖設(shè)計(jì) ------------------------------------------------------------ 235.3.5 機(jī)械手控制程序 -------------------------------------------------------- 23第六章 觸摸屏上位機(jī)設(shè)計(jì) --------------------------------------------------- 25第七章??結(jié)論 ---------------------------------------------------------------- 28結(jié)束語(yǔ) ----------------------------------------------------------------------- 29參考文獻(xiàn) --------------------------------------------------------------------- 30III機(jī)械升降臂結(jié)構(gòu)設(shè)計(jì),面板操縱式(有動(dòng)力)點(diǎn)位示教部分控制軟件設(shè)計(jì)第一章 緒 論1.1 工業(yè)機(jī)械手的概述工業(yè)機(jī)器人是能模仿人體某些器官的功能(主要是動(dòng)作功能)、有獨(dú)立的控制系統(tǒng)、可以改變工作程序和。