第1页共75页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第1页共75页摘要机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。机械手技术涉及到力学、机械学、电器液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。本次毕业设计以“码垛机械手”作为设计课题，将先进的设计理念，先进的设计技术和方法相结合应用于传统产品的设计中，采用当今比较先进的设计软件。它需要完成将毛坯材料（直径80mm）从传送带上移到加工中心，再将加工好的零件放回传送带的任务。并且整个过程要求用PLC控制。通过对机械手在国内外的使用现状的介绍，以及它们在使用中存在的问题，对各种支护设备进行比较，从而确定设计方案和设计参数，进而对机械手进行受力分析和控制系统的设计，以确保它的可行性。为以后机械手的设计与改进提供了依据。关键词：机械手液压PLC设计第2页共75页第1页共75页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第2页共75页AbstractRobotsareakindofautomaticpositioningcontrolandcanbeprogrammedtochangetothemulti-functionmachine,itismorefreedom,andcanbeusedtocarryobjectstocompletetheworkindifferentenvironments.Robottechnologyinvolvesmechanics,mechanics,electrichydraulictechnology,automaticcontroltechnology,thesensortechnologyandcomputertechnology,science,isaninterdisciplinarycomprehensivetechnology.Thegraduationdesignin"palletizingrobot"asadesigntopic,theadvanceddesignidea,methodandtechnologyofadvanceddesigncombinedapplicationoftraditionalproductdesign,thecomparisonofadvancedsoftwaredesigntoday.Itwillneedtocompleteblankmaterials(diameter80mm)fromtheconveyorbelttomachiningcenter,againwillbeprocessedpartsputbacktheconveyorbelt.AndthewholeprocessrequirementswithPLC.Throughtheuseofrobotsathomeandabroadareintroduced,andthecurrentproblemsexistingintheuseofvarioussupportingequipment,comparedtodeterminethedesignschemeanddesignparameters,then第3页共75页第2页共75页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第3页共75页analyzesforcesofmanipulatorandthedesignofcontrolsystem,toensureitsfeasibility.Forthedesignandimprovementofthemanipulator.Keyword:ManipulatorHydraulicPLCDesign目录第1章绪论····································································11.1工业机械手概述·····························································11.1.1机器人的定义·····························································11.1.2机械手概述··································································21.2总体方案设计··································································41.2.1平行夹持机构方案设计·········································41.2.2平行四边形机构设计··············································41.2.3大臂设计方案·····························································51.2.4液压控制系统设计方案·········································51.2.5PLC电控系统设计方案·············...
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