球坐标工业机械手设计与CAD图纸【大学毕业论文】

Industrial machinery hand (hereinafter referred to as the manipulator) is a new technology in the field of modern automatic control. As a multidisciplinary fusion, it is one of the fastest growing areas in high-tech development and has become an important component of modern mechanical manufacturing production systems. The industrial manipulator is a mechanical device that can automatically complete the transmission or operation of objects (such as materials, workpieces, parts, or tools) according to given programs or requirements. It can partially replace manual labor. Advanced types of manipulators can also simulate the actions of human arms and complete more complex operations. The overall structure of the manipulator designed in this project is a spherical coordinate manipulator. The arm can swing or rotate, and the claw can extend and retract or hold. Since the manipulator needs to place different workpieces, the wrist must be able to rotate. The manipulator designed in this paper is used for bar materials with a diameter of φ40-φ60 and a length of 450-1200mm. It introduces the composition and classification of the manipulator, degrees of freedom and coordinate type, characteristics of hydraulic technology, characteristics of PLC control, and domestic and international development status. The paper also provides a general scheme design for the manipulator, determines the coordinate type and degrees of freedom, determines the technical parameters of the manipulator, designs the arm structure of the manipulator, designs the hydraulic system of the manipulator, and draws the working principle diagram of the hydraulic system. The manipulator is controlled by a programmable logic controller (PLC), and a suitable PLC model is selected. Based on the working process of the manipulator, a control scheme for the programmable logic controller is formulated, and the sequential function diagram and ladder diagram of the manipulator during work are drawn, and the control program of the programmable logic controller is compiled. Keywords: manipulator, spherical coordinate industrial manipulator, gripping, bar material, hydraulic, PLC.