数控卧式镗铣床自动换刀机械手的设计.doc

目  录

                                       

摘要 1

关键词 1

Abstract 1

Key words 1

引言 2

1 材料与方法 2

1.1 机械手的发展现状 2

1.2 课题的构想与思路 3

1.3 设计的主要内容 3

1.4 要解决的计算部分 4

2 总体方案设计 4

2.1 位置检测与定位方式 4

2.2 缓冲方式 4

2.3 换刀机械手与驱动装置的研究 4

2.4 刀库结构 4

2.5 智能型控制系统的研究 4

3 机械结构设计 5

3.1 自动换刀机械手的组成和配置 5

3.2 自动换刀机械手升降（即手架升降）机构 5

3.3 自动换刀机械手的滑座伸缩和手架回转运动机构 6

3.4 装、卸刀手手臂和手部结构 7

4 液压系统设计 8

5 PLC控制系统设计 10

5.1 PLC的介绍 10

5.2 PLC的结构及基本配置 11

5.2.1 CPU的构成 11

5.2.2 I/O模块 12

5.2.3 电源模块 12

5.2.4 板底或机架 12

5.2.5 PLC的外部设备 12

5.3 自动换刀过程 12

总结 16

参考文献 18

致谢 19

数控卧式镗铣床自动换刀机械手的设计

  

摘要：工业机械手又称通用自动机械手，是一种“独立”的可变程序的自动机械手。它是在五十年代末期出现，近年来才迅速发展起来的重要自动化装置，现已成为实现工业自动化的一种重要手段。工业机械手已应用在机械制造的多种工艺中以代替人工，并成为机械加工人员所需掌握的生产工具。近年来随着工业自动化的发展机械手逐渐成为一门新兴的学科，并得到了较快的发展。机械手广泛地应用于锻压、冲压、铸造、焊接、装配、机加、喷漆、热处理等各个行业。特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中，机械手由于其显著的优点而受到特别重视。总之，机械手是提高劳动生产率，改善劳动条件，减轻工人劳动强度和实现工业生产自动化的一个重要手段，国内外都很重视它的应用和发展。传动主要分为机械传动,流体传动和电传动三类。作为机械手的辅助运行机构，它决定了机械手的使用范围和实用性，有着十分重要的作用。

关键词：卧式镗床；自动换刀；机械手

The Design of CNC Horizontal Boring and Milling Machine Automatic Tool Changing Manipulator

Student majoring in Mechanical and Electronic Engineering   

Abstract： Industrial robots and general automatic robot, it is a kind of "independent" variable automatic robot. It is late in the 1950s, in recent years to rapidly develop automation equipment, has become an important industrial automation is a kind of important means. Industrial robots have been used in various mechanical manufacturing process to replace artificial and become mechanical processing personnel of master production tools.In recent years, with the development of industrial automation gradually become a new robot of disciplines, and the rapid development. Manipulator is widely used in forging, stamping, molding, welding, assembling, machining, paint, heat treatment, etc. Especially in heavy, high temperature, toxic or hazardous, radioactive, such as dust, the working environment due to its advantages of significant manipulator by special attention. Anyhow, manipulator is to improve labor productivity, improve working conditions, reduce labor intensity and realize the automation of industrial production, and is an important means to have paid great attention to the development and application of it.Driving mainly divided into the mechanical transmission, fluid transmission and power transmission. As the auxiliary operation organization, robot manipulator which determines the scope of use and practicability, plays a very important role.

Key words：Horizontal boring machine; Automatic tool changer; Manipulator