坐标形式:球坐标

坐标系	抓重	自由度	伸缩X	升降Z
球坐标	200N	4	350mm，<200mm/s

 

横移Y	回转φ	俯仰θ
	0°~210°，<90°/s	0°~45°，<90°/s

 

回转ω	手指夹持范围
0°~180°，<90°/s	棒料，直径φ40~φ60，长度450~1200mm

 

定位方式	驱动方式	定位精度	控制方式
电位器(或接近开关等)设定，点位控制	液压(中、低压系统)	±3mm	PLC控制

摘  要工业机械手（以下简称机械手）是近代自动控制领域中出现的一项新技术，作为多学科融合的边沿学科，它是当今高技术发展最快的领域之一，并已成为现代机械制造生产系统中的一个重要组成部分。所谓工业机械手就是一种能按给定的程序或要求自动完成物件（如材料、工件、零件或工具等）传送或操作作业的机械装置，它能部分地代替人的手工劳动。较高级型式的机械手，还能模拟人的手臂动作，完成较复杂的作业。
本次设计所确定的机械手的整体结构为球坐标式机械手，手臂动作为摆动或者转动，手爪的动作为伸缩和松夹。由于此机械手的动作要求放置不同的工件，所以实现上下料过程也要求手腕能旋转动作。
本文的机械手用于棒料，直径φ40~φ60，长度450~1200mm，介绍它的组成和分类、自由度和座标型式、液压技术的特点、PLC控制的特点及国内外的发展状况，对机械手进行总体方案设计，确定机械手的座标型式和自由度，确定机械手的技术参数，设计机械手的手臂结构，设计出机械手的液压系统，绘制机械手液压系统工作原理图。利用可编程序控制器对机械手进行控制，选取合适的PLC型号，根据机械手的工作流程制定可编程序控制器的控制方案，画出机械手的工作时的顺序功能图和梯形图，并编制可编程序控制器的控制程序。
 
关键词：机械手, 球坐标工业机械手，抓取，棒料；液压；PLC

Abstract

Industrial machinery hand (hereinafter referred to as the manipulator) is a new technology of modern automatic control in the field, as the edge disciplines multidisciplinary integration, it is one of the fastest growing areas of high technology, and has become an important part of modern machinery manufacturing in the production system. The so-called industrial manipulator is a complete object automatically according to the given procedures or requirements (such as materials, parts, components or tools) mechanical device to transmit or operation, it can partly replace the manual labor. The manipulator of higher level type, can simulate human arm movement, complex operation.
The overall structure of the design of manipulator and the spherical coordinate manipulator, arm movements as swing or rotation, the gripper action for expansion and loose clamp. Because the mechanical hand movements placed different workpieces, so the implementation process on the wrist rotation is required.
In this paper, the mechanical hand for bar, diameter φ 40~ φ 60, length 450~1200mm, introduces its composition and classification, degree of freedom and coordinate type, hydraulic technology characteristics, PLC control characteristics and development at home and abroad, for the overall design of manipulator, to determine the coordinates of the manipulator types and degrees of freedom, to determine the technical parameters of the manipulator, manipulator arm structure design, hydraulic system design of mechanical hand, draw the working principle of the hydraulic system of manipulator diagram. The control of the manipulator programmable controller, select the appropriate PLC model, according to the workflow manipulator developed PLC control program, draw the mechanical hand work of the sequential function chart and the ladder diagram, and control program of programmable controlle
 
Keywords: manipulator, spherical coordinate industrial manipulator, grasping, bar; hydraulic; PLC