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摘 要
本論文在對工業(yè)機械手總體構思和結構分析的基礎上，結合通用機械手的給定要求
和功能，對機械手結構進行了系統(tǒng)的分析、設計和計算，并擬定了整體驅動系統(tǒng)和控制系統(tǒng)。
采用機電一體化設計思想，充分考慮機、電、軟、硬件各自特點進行互補優(yōu)化，對機械手整體結構、傳動系統(tǒng)、驅動裝置和控制系統(tǒng)進行了分析和設計。
在結構設計的過程中結合以往機械設計的經驗確定了機械手的詳細尺寸。在標準件的應用中，充分考慮實際情況和標準件的應用準則進行了選用。由于該機械手采用液壓驅動，在油路的布置和規(guī)劃中結合機械制造的基礎，不但使油路符合制造的可行性，而且將油路布置成空間結構，是機械手的結構更加簡潔和緊湊。
在傳動系統(tǒng)和驅動裝置的設計中，結合各個液壓缸的動作，對液壓油的流量和壓力進行了分析，結合液壓原理中各種常用回路的功能和各液壓元件的選用原則，制定出了一套完整的液壓系統(tǒng)。
在控制系統(tǒng)的設計過程中，采用PLC可編程控制器作為控制主機，行程開關的開合作為中間動作信號，在加上PLC內部延時繼電器的使用對該機械手進行了編程，提出了一份有不同功能模塊的梯形圖。
通過以上各部分的工作，得出了實用化、高可靠性通用機械手的設計方案，對其他類型的數控系統(tǒng)的設計也有一定的借鑒價值。
關鍵詞：通用機械手、結構設計、驅動系統(tǒng)、PLC
Abstract
This paper in the overall industrial manipulator design and structural analysis on the basis of Combining manipulator to establish requirements and functions of the manipulator structure of the system analysis, design and calculation and the preparation of the overall drive system and control system .
Electrical and Mechanical design integration, and give full consideration to, electronic hardware and software characteristics of their respective complementary optimization, manipulator of the overall structure, transmission, drive and control system for the analysis and design .
The structural design of the course with previous experience in mechanical design of the manipulator to determine the detailed size .In the application of standard parts, and give full consideration to the actual situation and the standard parts of the selection criteria .
As the hydraulic manipulator drivers in the asphalt layout and planning with machinery manufacturing base not only with asphalt manufacturing feasibility and layout of asphalt into space structure, Manipulator is the structure more simple and compact .
Drivers in the transmission system and equipment design,the integration of the various hydraulic cylinder moves the hydraulic oil flow and pressure analysis hydraulic principles used various circuit functions and the use of hydraulic components, draw up a complete set of hydraulic systems .
In the control system design process, using PLC as the control host, Switching trip to the Middle cooperating moves signal In addition PLC internal delay relays on the use of manipulator of programming, presented a different function module ladder .
Through the above, the part of the process come to practical use, high reliability General manipulator design, for other types of CNC system design has some reference value .
Keywords :Definitive manipulator、structural design、drive system、PLC