自动上料机械手设计

自动上料机械手设计

摘要

随着社会的不断进步，科技水平的不断发展，人们对时间的需求越来越大，所以在大规模的制造业中，通过人力来进行产品的生产，已经不足以支撑企业运转了，所以为了提高工作效率，同时也为了保证产品的质量，必须尽快实现机械自动化，这样一来，生产过程能不能自动化，已经成为了当前需要关注的首要问题。随着人力劳动的减少，工业机器人代替其站在了自动化生产线上，并且已经受到了多个企业的认可与采用。我们可以看出，在进行工业机器人的制造时，技术水平以及机器人成功后的应用频率，和国家工业自动化水平的高低，呈正相关趋势。在一些高温、高压等人类无法工作的特殊环境下，工业机器人就发挥了自己的作用，在保证产品质量的情况下，替人类克服那些在特殊环境下，无法完成的困难，同时解放人类的双手，进一步提高劳动生产率。现阶段，工业机器人主要负责的工作是，像喷绘、焊接、搬运这样要么重复性强，要么工作难度高的工作，并且在进行工作以前，还需要操作人员进行示教。

此次本文设计的机器人类型，是一个三自由度工业机器人，它的功能主要是可以运输物料，它的总设计，主要有以下四部分构成：一、总体设计；二、工业机械手怎样组成，及有哪些应用；三、对机械手的液压系统进行设计；四、对机械手的控制系统进行设计。其中我们在驱动系统中机械手的驱动，为了保证定位的精准，同时保证操作简单，整体流程不复杂，便于控制，选用了液压缸来进行操作。笔者对控制系统和液压系统也进行了分析计算，为了对机械手装置的控制系统，进行深化设计，我们这次采用了PLC为核心。使控制系统通过PLC进行控制，这与现如今工业控制系统设计的大方向不谋而合。并且，硬件电路与机械手控制程序的设计，必须以工艺流程以及总体设计要求，已经分析完成的基点上进行。

关键词：工业机器人；控制系统；计算机辅助；专用设备

Abstract

With the continuous progress of the society and the continuous development of science and technology level, people demand more and more time, so in large-scale manufacturing, the production of products by manpower has been insufficient to support the operation of the enterprise, in order to improve work efficiency, and ensure the quality of the product, the enterprise must realize mechanical automation as soon as possible, and it has become the primary problem that needs to be focused at the moment. With the decrease of human labor, industrial robots have replaced them on the automatic production lines, and have been recognized and adopted by many enterprises. We can see that the national industrial automation level has a direct impact on manufacturing technology level and applied degree of the industrial robot, In some special environments, such as high temperature and high pressure, which people cannot work, industrial robots have played a role, in the case of ensuring the quality of products, it can help human beings overcome the difficulties that cannot be accomplished under special circumstances, and at the same time free their hands to further improve labor productivity. At the present stage, industrial robots are mainly responsible for tasks such as painting, welding and handling, which are either highly repetitive or difficult to work, and work in the way of demonstration and teaching reproduction.

In this paper, a three-degree-of-freedom industrial robot is designed. Its main function is to transport materials. Its overall design is made up of the following four parts: the first is the overall design; the second is the composition and application of industrial manipulator; the third is to design the manipulator hydraulic system; and the last one is to design the control system. We drive of the manipulator in the drive system, in order to guarantee the precision of positioning, at the same time to ensure the operation is simple, the overall process is not complicated, and easy to control, so selecting for the hydraulic cylinder to operate. The author also analyzed and calculated the control system and the hydraulic system, in order to further design the control system of the manipulator, PLC is the core. The control system is controlled by PLC, which coincides with the general direction of designing industrial control system. Moreover, the design of hardware circuit and manipulator control program is carried out on the basis of process flow and design requirements of the manipulator.

Key words:industrial machinery; hydraulic system; computer-assisted; dedicated device