摘要在现代工业中，生产过程中的自动化已成为突出的主题。
各行各业的自动化水平越来越高，现代化加工车间，常配有机械手，以提高生产效率，完成工人难以完成的或者危险的工作随着工业自动化发展的需要，机械手在工业应用中越来越重要。
用于再现人手的的功能的技术装置称为机械手。
机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。
在工业生产中应用的机械手被称为工业机械手。
文章主要叙述了机械手的设计计算过程。
首先，本文介绍码垛机械手的作用，码垛机械手的组成和分类，说明了自由度和机械手整体座标的形式。
同时，本文给出了这台机械手的主要性能规格参量。
文章中介绍了码垛机械手的设计理论与方法。
全面详尽的讨论了码垛机械手的手部、腕部、手臂以及机身等主要部件的结构设计。
最后用PLC对码垛机械手进行控制关键词：码垛机械手，液压传动，液压缸，PLC控制ABSTRACTIn modern industry, the automation of the production process has become a prominent theme.Increasingly high level of automation in all walks of life, modern processing plant, often with a mechanical hand in order to improve production efficiency, to complete it hard for workers to complete the work or riskWith the development needs of industrial automation, mechanical hand more and more important in industrial ed to reproduce the function of the technical staff of the device is called robot.Robot is modeled on the part of staffing action, according to a given program, automatically track and requirements capture, handling or operation of the automatic mechanical devices.Application in industrial production is known as industrial robot manipulator.This paper mainly describes the design of the manipulator calculation.First, the article describes the role of robot palletizing, robotic palletizing composition and classification, indicating the degree of freedom and the coordinates in the form of the whole manipulator.Meanwhile, this paper, the machinery of the main performance specifications of hand parameters.Article describes the robot palletizer design theory and prehensive and detailed discussion of the palletizing robot's hand, wrist, arm and body and other major components of the structural design.Finally, PLC control for robotic palletizerKey words: Palletizer robot, hydraulic transmission, hydraulic cylinder, PLC control目录1 绪论-------------------------------------------------------------------------------------------------------------------------------- 11.2机械手的简史 ------------------------------------------------------------------------------------------------------------- 11.3工业机械手在生产中的应用 --------------------------------------------------------------------------------------- 21.4机械手的组成 ------------------------------------------------------------------------------------------------------------ 31.4.1 执行机构----------------------------------------------------------------------------------------------------------- 31.4.2驱动机构----------------------------------------------------------------------------------------------------------- 41.4.3控制系统分类 --------------------------------------------------------------------------------------------------- 41.5机械手的发展趋势 ------------------------------------------------------------------------------------------------------ 41.5.1国外机械手领域发展趋势： ------------------------------------------------------------------------------ 41.5.2我国机械手领域的现状及发展: ------------------------------------------------------------------------ 41.6本章小结-------------------------------------------------------------------------------------------------------------------- 52 机械手的总体设计方案---------------------------------------------------------------------------------------------- 62.1机械手基本形式的选择---------------------------------------------------------------------------------------------- 62.2机械手的主要部件及运动 ------------------------------------------------------------------------------------------- 72.3驱动机构的选择---------------------------------------------------------------------------------------------------------- 72.4机械手的技术参数列表---------------------------------------------------------------------------------------------- 72.5手臂的配置形式---------------------------------------------------------------------------------------------------------- 72.6位置检测装置的选择 -------------------------------------------------------------------------------------------------- 82.7本章小结-------------------------------------------------------------------------------------------------------------------- 8 3机械手手部的设计计算---------------------------------------------------------------------------------------------- 93.1概述---------------------------------------------------------------------------------------------------------------------------- 93.2设计时应考虑的几个问题 ------------------------------------------------------------------------------------------ 93.3 手部设计基本要求 ----------------------------------------------------------------------------------------------------- 93.4 典型的手部结构------------------------------------------------------------------------------------------------------- 103.5机械手手抓的设计计算--------------------------------------------------------------------------------------------- 103.5.1选择手抓的类型及夹紧装置 ---------------------------------------------------------------------------- 103.5.2手抓的力学分析---------------------------------------------------------------------------------------------- 103.5.3 夹紧力及驱动力的计算----------------------------------------------------------------------------------- 133.5.4手抓夹持范围计算 ------------------------------------------------------------------------------------------ 143.6本章小结 ----------------------------------------------------------------------------------------------------------- 14 4腕部的设计计算 -------------------------------------------------------------------------------------------------------- 164.1腕部设计的基本要求 ----------------------------------------------------------------------------------------------- 164.2腕部的设计计算------------------------------------------------------------------------------------------------------- 164.2.1腕部设计考虑的参数 -------------------------------------------------------------------------------------- 164.3.2腕部的驱动力矩计算 -------------------------------------------------------------------------------------- 164.4本章小结------------------------------------------------------------------------------------------------------------------ 17 5臂部的设计及有关计算-------------------------------------------------------------------------------------------- 195.1臂部设计的基本要求 ----------------------------------------------------------------------------------------------- 195.2 手臂的典型机构以及结构的选择 ----------------------------------------------------------------------------- 205.2.1手臂的典型运动机构 -------------------------------------------------------------------------------------- 205.2.2手臂运动机构的选择 -------------------------------------------------------------------------------------- 205.3手臂直线运动的驱动力计算------------------------------------------------------------------------------------- 205.3.1手臂摩擦力的分析与计算 ------------------------------------------------------------------------------- 205.3.2手臂惯性力的计算 ------------------------------------------------------------------------------------------ 225.3.3密封装置的摩擦阻力 -------------------------------------------------------------------------------------- 225.4液压缸工作压力和结构的确定--------------------------------------------------------------------------------- 225.5 四连杆固定轴剪切力校核 ---------------------------------------------------------------------------------------- 235.6本章小结------------------------------------------------------------------------------------------------------------------ 246 机身的设计计算 -------------------------------------------------------------------------------------------------------- 256.1机身的整体设计------------------------------------------------------------------------------------------------------- 256.2 机身回转机构的设计计算 ---------------------------------------------------------------------------------------- 266.3机身升降机构的计算 ----------------------------------------------------------------------------------------------- 276.3.1手臂偏重力矩的计算 -------------------------------------------------------------------------------------- 276.3.2 手臂做升降运动的液压缸驱动力的计算 --------------------------------------------------------- 286.4轴承的选择分析------------------------------------------------------------------------------------------------------- 296.5齿轮的选型 -------------------------------------------------------------------------------------------------------------- 296.6本章小结------------------------------------------------------------------------------------------------------------------ 30 7液压系统设计--------------------------------------------------------------------------------------------------------------- 327.1液压系统简介 ----------------------------------------------------------------------------------------------------------- 327.2液压系统的组成-------------------------------------------------------------------------------------------------------- 327.3机械手液压系统的控制回路 ------------------------------------------------------------------------------------- 327.3.1 压力控制回路------------------------------------------------------------------------------------------------ 327.3.2 速度控制回路------------------------------------------------------------------------------------------------ 337.3.3 方向控制回路 ------------------------------------------------------------------------------------------------- 337.4 机械手的液压传动系统 ------------------------------------------------------------------------------------ 347.4.1 上料机械手的动作顺序----------------------------------------------------------------------------------- 347.4.2 自动上料机械手液压系统原理介绍----------------------------------------------------------------- 357.5机械手液压系统的简单计算 ------------------------------------------------------------------------------------- 367.6 本章小结------------------------------------------------------------------------------------------------------------------ 378 PLC控制回路的设计--------------------------------------------------------------------------------------------------- 388.1 电磁铁的动作顺序表 ----------------------------------------------------------------------------------------------- 388.2 根据机械手的动作顺序表 ---------------------------------------------------------------------------------------- 398.3 PLC与现场器件的实际连接图---------------------------------------------------------------------------------- 408.4 梯形图 --------------------------------------------------------------------------------------------------------------------- 408.5指令程序------------------------------------------------------------------------------------------------------------------ 429 结论 ------------------------------------------------------------------------------------------------------------------------------ 45 参考文献---------------------------------------------------------------------------------------------------------------------------- 46 致谢 -------------------------------------------------------------------------------------------------------------------------------- 471 绪论1.1前言用于再现人手的的功能的技术装置称为机械手。