摘 要
本文对自动搬运机械手进行了总体机构设计，能够完成机械手整体的旋转，机械手手臂的升降和伸缩，根据机械手的技术参数分别设计了机械手的夹持式手部结构计算出了夹持 物料时手抓气缸缩需要的驱动力，设计了手臂伸缩、升降用的气缸的所需驱动力和机械手回转时电机的功率选择。设计出了机械手的气动系统，绘制了机械手气压系统工作原理图。利用PLC对机械手进行控制，选取了合适的PLC的型号，根据机械手的工作流程制定了可编程序控制器的控制方案，画出了机械手的工作时序图和梯形图，并编制了可编程序控制器的控制程序。婴儿百天照
关键词：机身回转机构，机身升降机构，手臂伸缩机构，气动，可编程序控制器(PLC)
ABSTRACT
This article conducted the overall institution design of mandrel handling robot, the robot is able to complete the robot overall rotation, the robotic arm茶艺礼仪 can move and stretch, 帅的网名according to the m鱼料anipulator s奥巴马演讲pecifications, I designed the manipulator gripping type hand structure ,a
nd calculated out of the driving force立宪 when the clutch cylinder shrink clamping mandrel material, also designed a telescopic arm, the required driving force of the lift cylinder and the manipulator rotation when the motor power options. I designed the robot's pneumatic system, draw the working schematic of the pressure system of the robot.Using PLC to control the robot, lect the PLC model, developed a control program of the programmable logic controller according to the workflow of the robot, to draw the robot work timing diagram and ladder, and prepared a program to control device control program.
KEY WORDS: body rotation institutions, body lifting mechanism, featuresair, 白虎王pressure drive, the Telescopic mechanism of the arm, Programmable Logic Controller
知礼仪
