PLC控制气动机械手的毕业设计[1]
时间:2025-04-04
时间:2025-04-04
摘 要
在现代工业中,生产过程的机械化、自动化已成为突出的主题。随着工业现代
化的进一步发展,自动化已经成为现代企业中的重要支柱,无人车间、无人生产流水线等等,已经随处可见。同时,现代生产中,存在着各种各样的生产环境,如高温、放射性、有毒气体、有害气体场合以及水下作业等,这些恶劣的生产环境不利于人工进行操作。
工业机械手是近代自动控制领域中出现的一项新的技术,是现代控制理论与工
业生产自动化实践相结合的产物,并以成为现代机械制造生产系统中的一个重要组成部分。工业机械手是提高生产过程自动化、改善劳动条件、提高产品质量和生产效率的有效手段之一。尤其在高温、高压、粉尘、噪声以及带有放射性和污染的场合,应用得更为广泛。在我国,近几年来也有较快的发展,并取得一定的效果,受到机械工业和铁路工业部门的重视。
而气压传动机械手是以压缩空气的压力来驱动执行机构运动的机械手。其主要
特点是:介质来源极为方便,输出力小,气动动作迅速,结构简单,成本低。但是,由于空气具有可压缩的特性,工作速度的稳定性较差,冲击大,而且气源压力较低,抓重一般在30公斤以下,在同样抓重条件下它比液压机械手的结构大,所以适用于高速、轻载、高温和粉尘大的环境中进行工作。
气动技术有以下优点:
(1)介质提取和处理方便。气压传动工作压力较低,工作介质提取容易,而后
排入大气,处理方便,一般不需设置回收管道和容器:介质清洁,管道不易堵存在介质变质及补充的问题.
(2)阻力损失和泄漏较小,在压缩空气的输送过程中,阻力损失较小(一般不卜
浇塞仅为油路的千分之一),空气便于集中供应和远距离输送。外泄漏不会像液压传动那样,造成压力明显降低和严重污染。
(3)动作迅速,反应灵敏。气动系统一般只需要0.02s-0.3s即可建立起所需的
压力和速度。气动系统也能实现过载保护,便于自动控制。
(4)能源可储存。压缩空气可存贮在储气罐中,因此,发生突然断电等情况时,
机器及其工艺流程不致突然中断。
(5)工作环境适应性好。在易燃、易爆、多尘埃、强磁、强辐射、振动等恶劣
环境中,气压传动与控制系统比机械、电器及液压系统优越,而且不会因温度变化影响传动及控制性能。
(6)成本低廉。由于气动系统工作压力较低,因此降低了气动元、辅件的材质
和加工精度要求,制造容易,成本较低。
本课题拟开发物料搬运用气动机械手,机械手可以实现在X、Z 两个坐标方向
上的移动、绕Z轴的回转,手部可以加紧的执行机构。控制方面,采用X-D图法设计了控制该机械手动作的气动控制系统。这是一个开放的气动控制系统平台。
该气动机械手的设计主要分为三个部分:总体方案设计,结构设计计算及元件
选型和机械手气动控制系统的设计。
由于时间仓促和个人水平限制,我的设计存在着许多还没来得及解决的问题,希望广大老师、同学能够给予批评指正并予以解决。
ABSTRACT
In modern industry, the production process mechanization and automation has become a prominent theme. With the further development of industrial modernization, automation has become an important pillar of the modern enterprise, no shop, no production lines, etc., have been everywhere. Meanwhile, modern production, there are a variety of production environments, such as high temperature, radiation, toxic gases, harmful gases and underwater operations, and other occasions, the harsh production environment is not conducive to manual operation.
Modern industrial robots are appearing in the field of automatic control of a new technology, modern control theory and practice of industrial automation product of the combination, and to become a modern machinery manufacturing production systems is an important component. Industrial manipulator is to improve the production process automation, improve working conditions, improve product quality and production efficiency of the effective means. Especially in the high-temperature, high pressure, dust, noise and pollution with radioactive and occasions, more widely applied. In China, recent years have
The robot is a compressed air pressure drive the pressure to drive the robot actuator movement. Its main features are: the media is very convenient source, the output force is small, pneumatic and prompt action, simple structure and low cost. However, because air has compressible characteristics, operating speed is unstable, the impact of large and low pressure gas source, focus generally 30 kg weight, weight Tiaojian arrested under the same hydraulic manipulator than the structure of large, So for high-speed, light load, high temperature and dusty work environment.
Pneumatic technology has the following advantages:
(1) media extraction and processing convenience. Low pressure pneumatic transmission work, the working medium extracted easily, and then discharged into the atmosphere, convenient, generally do not set the recovery pipes and containers: the media clean, easy to plug existing media pipeline deterioration and supplemented.
(2) small resistance loss and leakage in the delivery of compressed air process, the resistance loss is small (generally not water plug BU only one thousandth of oil), air supply and easy to focus on long-distance transport. Hydraulic fluid leaks will not …… 此处隐藏:10560字,全部文档内容请下载后查看。喜欢就下载吧 ……
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