机械手上下料毕业设计论文及全套cad图纸
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ЙиМќДЪЃКЛњЦїШЫЃЌЪОНЬБрГЬЃЌЫХЗўЃЌжЦЖЏЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁABSTRACT
ЁЁЁЁЁЁ In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take high work strength, and most of these robots work in playback way.ЁЁЁЁЁЁIn this paper I will design an industrial robot with four DOFs, which is used to carry material for a punch. First I will design the structure of the base, the big arm, the small arm and the end manipulator of the robot, then choose proper drive method and transmission method, building the mechanical structure of the robot. On this foundation, I will design the control system of the robot, including choosing DAQ card, servo control, feedback method and designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software and the robot safety during running. The aims to realize finally include: servocontrol and brake of the joint, monitoring the movement of each joint in realtime, playback programming and modifying the program online, setting reference point and returning to reference point.
KEY WORDS: robot, playback, servocontrol, brakeЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁФП ТМЕк1еТ аїТлЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 3ЁЁЁЁ1.1 ЛњЦїШЫИХЪіЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁ1.2 ЛњЦїШЫЕФРњЪЗЁЂЯжзДЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁ1.3 ЛњЦїШЫЕФЗЂеЙЧїЪЦЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4Ек2еТ ЛњЦїШЫЪЕбщЦНЬЈНщЩмМАЛњаЕЪжЕФЩшМЦЁЁЁЁЁ3ЁЁЁЁ2.1здгЩЖШМАЙиНкЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁ2.2 ЛљзљМАСЌИЫЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁЁЁ2.2.1 ЛљзљЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 7ЁЁЁЁЁЁЁЁЁЁ2.2.2 ДѓБлЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 7ЁЁЁЁЁЁЁЁЁЁ2.2.3 аЁБлЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 7ЁЁЁЁЁЁ2.3 ЛњаЕЪжЕФЩшМЦЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁ2.4 Ч§ЖЏЗНЪНЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁ2.5 ДЋЖЏЗНЪНЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁ2.6 жЦЖЏЦїЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЕк3еТ ПижЦЯЕЭГгВМўЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁ 3.1 ПижЦЯЕЭГФЃЪНЕФбЁдёЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁ3.2 ПижЦЯЕЭГЕФДюНЈЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁЁЁ3.2.1 ЙЄПиЛњЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁЁЁ3.2.2 Ъ§ОнВЩМЏПЈЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁЁЁ3.2.3 ЫХЗўЗХДѓЦїЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁЁЁ3.2.4 ЖЫзгАхЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁЁЁ3.2.5ЕчЮЛЦїМАЦфБъЖЈЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁЁЁ3.2.6ЕчдДЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЕк4еТ ПижЦЯЕЭГШэМўЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁ4.1дЄЦкЕФЙІФмЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁ4.2 ЪЕЯжЗНЗЈЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁЁЁЁЁ4.2.1ЪЕЪБЯдЪОИїИіЙиНкНЧМАдЫЖЏЗЖЮЇПижЦ ЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁЁЁ4.2.2жБСїЕчЛњЕФЫХЗўПижЦЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁЁЁ4.2.3ЕчЛњЕФздЫјЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁЁЁ4.2.4ЪОНЬБрГЬМАдкЯпаоИФГЬађЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЁЁЁЁЁЁ4.2.5ЩшжУВЮПМЕуМАЛиВЮПМЕуЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ4ЁЁЁЁЕк5еТ змНсЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁ5.1 ЫљЭъГЩЕФЙЄзїЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁ5.2 ЩшМЦОбщЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁ5.3 ЮѓВюЗжЮіЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁЁЁЁЁ5.4 ПЩвдМЬајЬНЫїЕФЗНЯђЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁжТ аЛЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 4ЁЁЁЁВЮПМЮФЯзЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁЁ 40
