立式冲床吸盘式上下料机械手设计.docx

立式冲床吸盘式

上下料机械手设计

摘要：
该立式机床吸盘式上下料机械手用于立式机床自动生产线的上下料装置专用机械手，完成工件从机械手工位到机床工作台的位置转换，其全部动作既可以自动完成，也可以单步手动控制完成，此机械手由手臂伸缩机构，手臂回转机构，中间座部机构，底座等部分组成，有三个自由度来满足生产要，既手臂伸缩运动，手臂水平回转及手臂升降运动。能够在较大范围内移动工件的同时，随意改变手爪位置和方向。其运动均采用液压方式驱动，其电气控制采用PLC进行控制，将全部工作按顺序用PLC编制控制电路，控制电路分为两部分：自动顺序控制和单步点控制，为保证机械手的每一个动作位置的精确度，每一步动作的行程末尾采用挡块定位，进一步提高机械手的自动控制能力和位置精度，以进一步提高生产线的效率和工作质量。此机械手在满足定位精度和工作效率教高的前提下，尽量使其动作简单，易于控制。
关键词
机械手，PLC，CAD，

[Abstract]:Themanipulatorrefinedlyforgesthemachinetodecendvoluntarilytoexpectisusedrefinedlyforgesthemachinehandspecialofthenextmaterialdeviceofautomaticproductionline,accomplishesthemechanicalhandworkthattheworkpiecefromtherefinedmechanicforgingdoestochangesthepositionmoves,notonlyhiscompletelymovescanaccomplishvoluntarily,butalsocansinglestephandmovingcontrolaccomplish.Thismanipulatorincludesthathandpaw,trickandarmstretchoutanddrawbackpartssuchasorganization,armrevolutionorganization,apartofcentre,revolutionoiljarandbaseetc,therearefourdegreesoffreedomtocometosatisfytheproductionrequirement,andnamelythearmupanddown,trickrevolution,armstandardrevolutionanditsstretching,Hecanchangehandpawpositionandthedirectioninthebiggerscopeatwill.Hismovesalltousethehydraulicoilsystem,andthecontrolofhydraulicpressessystemusesPLCtocontrol,andincitestoactioncompletelytomoveaccordingtothesequencewithPLC’sestablishmentcontrolcircuit,andthecontrolcircuitisdividedintotwoparts:Controlareputinautomaticsequencecontrolandsinglestep.Inordertopledgeeveryone-stepofmanipulatormovestheprecisionofposition,andusesmachinerytobediedandkeepsoffafixedpositionlocationatthestrokeendofeveryone-stepaction,andraisesautomaticcontrolabilityandthepositionprecisionofmanipulatorfurther,inordertoraiseefficiencyandtheworkoftheproductionlinequantityfurther.Thismanipulatormovestheunity,andthemachinerymovessimply,thustheprecisionandworkefficiencyishigh.

[keyword]:manipulator,CAD(computeraideddesign),

PLC.(programmablelogiccontroller).

目录

1．概述 …………………………………………………………………1
1．1工业机械手概述………………………………………
1．1．1工业