摘 要

随着科学技术和工程技术的发展,机械手在现代工业生产中发挥着越来越重要的作用。因此,机械手具有越来越多的自由度,再加上传感器本身的功能，特别是机器视觉技术方面也在不断发展。现在机械手已经变成了工业生产中的主力军也越来越被重视，不但提高了工业中的生产效率，也提高了生产质量。

主要设计要求是设计出两自由度的、参数确定的、可连续长时间工作的、符合设计要求以及工程学的玻镁板自动上下料机械手。主要分总体方案的拟定、工件选型、尺寸参数的确定、强度校核和控制系统的编写等步骤。

关键词：自动化；机械手；玻镁板生产线；PLC；

Abstract

With the development of technology and engineering technology, manipulators play an increasingly important role in modern industrial production, so the freedom of manipulators is more and more, and the actions that can be achieved are increased, and the sensor itself Function, especially machine vision technology is also evolving. Now the robot has become the main force in industrial production more and more attention, not only improve the production efficiency in the industry, but also improve the quality of production.

The main design requirement is to design two degrees of freedom, the parameters to determine, can work for a long time, in line with the design requirements and engineering glass magnesium plate automatic loading and unloading manipulator. Mainly divided into the overall program development, the workpiece selection, the size of the parameters to determine the strength of the verification and control system preparation steps.

Key Words：Automation; manipulator; glass magnesium board production line; PLC;

目 录

摘要...............................................................I

Abstract...........................................................II

目 录...........................................................1

第 1章 绪论.........................................................2

1.1 机械手现状...............................................2

1.2 机械手种类介绍............................................2

1.3 机械手的未来..............................................2

第 2章 总体方案设计.................................................4

2.1 主要参数..................................................4

2.2 运行要求.......................................................4

2.3 总体方案设计..............................................4

第 3章 详细设计.....................................................6

3.1 真空发生器以及吸盘的计算和选型............................6

3.2 气缸的选型................................................8

3.3 设计齿轮 .................................................................13

3.4 电动机 ..............................................................................16

3.5 设计机架 .........................................................24

第 4章关键部位强度校核..............................................29

4.1 校核螺栓..................................................29

4.2 校核方通梁................................................32

第 5 章 控制系统...................................................32

5.1 基本控制要求.............................................33

5.2 控制分析与实现 ..........................................34

5.2.1 信号输入.........................................35

5.2.2 信号输出.........................................35

5.2.3 选择PLC...........................................35

5.3 程序设计..................................................35

5.3.1 设计手动程序.....................................36

5.3.2 设计自动程序......................................36

5.3.3 设计单步程序.....................................36

后记.................................................................40

致谢...............................................................41

参考文献...........................................................42

第1章 绪论