基于物料分揀機械手的自動化控制系統的設計-文庫吧在線文庫

　　

【正文】 械手對整個生產行業的影響，對機械手應有的設計提出了一些想法。 關鍵詞 : 機械手，氣動控制， 可編程控制器（ PLC），自動化控制，物料分揀 南京工程學院畢業設計說明書（論文） Abstract With the development of productive forces, advanced manufacturing are introducing manipulator gradually, through which to acplish some work,for example handling, sorting, etc., instead of a humandominated heavy labor. The paper observes the status of the development of manipulator, focus on the impact of future manipulator for the entire manufacturing industry, put forward some ideas of the design of the manipulator . Firstly I decide to use pneumatic drive and PLC to control , to a great extent play the advantages of their functions, so the software and hardware to achieve a plementary effect, this is the future development of a trend robot. Overall the material sorting robot mechanical structure, actuators, drives and control system analysis and design. Finally, I put forward a simple and efficient control strategies. Through a series of research and exploration, finally I drew a this sorting material manipulator can be affordable and reliable. Key words: manipulator ； pneumaticdriven； programmable logic controller (PLC)； automatic control； sorting materials 南京工程學院畢業設計說明書（論文） 目 錄 第一章 緒論 ....................................................................................1 研究的目的及意義 .......................................................................1 機械手在國內外現狀和發展趨勢 ...............................................1 主要研究的內容 ...........................................................................1 第二章 執行系統的分析與選擇 ....................................................2 執行機構坐標形式的選擇 ...........................................................2 執行機構的組成 ...........................................................................2 執行機構各部分的分析與選擇 ...................................................2 手部的選擇 .......................................................................................2 手臂結構的選擇 ...............................................................................3 機座結構的選擇 ...............................................................................3 執行機構的工作原理 ...................................................................5 執行機構簡圖 ...............................................................................5 第三章 驅動系統的分析與選擇 ....................................................7 驅動系統的分析與選擇 ...............................................................7 機械手驅動系統的控制設計 .......................................................7 氣動元件選取及工作原理 ...........................................................8 氣源裝置 ...........................................................................................8 南京工程學院畢業設計說明書（論文） 執行元件 ............................................................................................8 控制元件 ............................................................................................8 真空發生器 ........................................................................................9 吸盤 ....................................................................................................9 氣動回路的工作原理 .................................................................10 第四章 控制系統的分析設計 ......................................................12 控制系統的組成結構 .................................................................12 傳感器的選擇 ......