摘     要
目前，国内大部分雷管生产企业仍采用手工装配操作，在装配过程中，操作工需一手拿基础雷管管体，另一手拿引火元件，先后放入装配设备中进行装配，此时，因引火元件与吸附在雷管内壁的起爆药发生摩擦，使卡口工序成为工业雷管生产当中事故发生概率相当高的一道工序。
一直以来，国内缺少一种合理、有效的解决方案，安全隐患问题困扰着多数雷管生产企业。根据国家工信部《关于民用爆炸物品行业技术进步的指导意见》及《关于加强工业雷管安全生产基础条件建设的指导意见》精神,国家鼓励支持采用自动卡口机来替代手工操作，本设计就上述问题提出一种通过PLC控制程序，控制气缸运动的全自动卧式工业雷管自动卡口机设计方案，替代手工装配作业来避免装配过程中危险品直接与人员接触从而消除安全隐患，降低工人的劳动强度，提高工作效率。
关键词：雷管，气动，可编程序控制器(PLC)，机械手。
 ABSTRACT

At present, the domestic most of detonator production enterprises still use manual assembly operations, in the process of assembly, the operator should be based the detonator tube body in one hand, on the other hand flash components, successively into the assembly equipment for assembly, at this time, because of the fire element and adsorption on the inner wall of the detonator initiation explosive friction, make bayonet process of industrial detonator production accident happened a process with the probability is quite high.
For a long time, the domestic lack of a reasonable and effective solutions, security problem bothering most of detonator production enterprise. According to the national ministry of "about civil explosives industry technology progress guidance" and "on strengthening the industrial detonator production safety guidance for the construction of basic condition" spirit, the state shall encourage support a bayonet machine to replace manual operation, this design is a through the PLC control program for the above problems, the control cylinder movement of automatic horizontal industrial detonator automatic monitoring machine design scheme, replace the manual assembly operations to avoid direct contact with the staff of dangerous goods in the assembly process to eliminate the safety hidden trouble, reduce the labor intensity, improve work efficiency.
Keywords:detonator，air pressure drive, PLC，manipulator.
目  录

第一章  绪 论............................................1
1.1 机械人简介..........................................................................................................................1
1.1.1 机器人的发展及应用.......................................................................................................1
1.1.2机器人的组成.....................................................................................................................4
1.2 机械手的概述及组成..........................................................................................................6
1.3本设计的主要工作................................................................................................................8
第二章    卡口机的系统概述与系统硬件设计.....................................9
2.1 系统概述............................................................................................................................9
2.2 系统硬件设计....................................................................................................................9
2.2.1传动系统设计..................................................................................................................9
2.2.2控制系统的设计..............................................................................................................11
第三章  自动卡口机的总体结构.............................14
3.1卡口机的组成与工作流程.................................................................................................14
3.2设计具体采用方案.............................................................................................................14
第四章   传动方式的选择..................................17 
4.1液压传动的优缺.................................................................................................................17
4.2气压传动的优缺点.............................................................................................................17
第五章  机械手的设计方案.............................19
5.1机械手的座标型式与自由度....................................................................................................19
5.2机械手的手部结构方案设计....................................................................................................20
5.3 机械手的手腕结构方案设计..................................................................................................20
5.4 机械手的手臂结构方案设计..................................................................................................20
5.5 机械手的驱动方案设计..........................................................................................................20
5.6 机械手的控制方案设计..........................................................................................................21
5.7机械手的主要参数....................................................................................................................21
5.8机械手的技术参数列表............................................................................................................21
第六章  手部结构设计.................................24
6.1.1手指的形状和分类....................................................24
6.1.2设计时考虑的几个问题................................................24
6.1.3手部夹紧气缸的设计..................................................25