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寧XX大學(xué)
畢業(yè)設(shè)計(jì)(論文)
龍門式機(jī)械手結(jié)構(gòu)設(shè)計(jì)
專 業(yè)：
班 級：
姓 名：
學(xué) 號：
指導(dǎo)教師：
年 月
摘 要
近代的工業(yè)機(jī)械手是由目標(biāo)機(jī)械本體、控制器系統(tǒng)、傳感裝置系統(tǒng)、控制系統(tǒng)和伺服動力器系統(tǒng)組成，是一種模仿人的操作、自動化控制、可多次編程、能在立體空間完成各式各樣作業(yè)的Mechatronics設(shè)備。工業(yè)機(jī)械手對于提高和確保產(chǎn)品質(zhì)量，提升生產(chǎn)的效率，改善工人的工作條件和快速更新產(chǎn)品起著非常重要的作用。工業(yè)機(jī)械手技術(shù)結(jié)合了多們學(xué)科的知識。包含機(jī)構(gòu)學(xué)、計(jì)算機(jī)、控制論、信息和傳感技術(shù)、人工智能、仿生學(xué)等。它是當(dāng)代十分活躍，應(yīng)用非常廣泛的領(lǐng)域。
機(jī)械手具有很多人類所不具有的能力，包括快速分析環(huán)境能力；抗干擾能力強(qiáng)，能長時間工作和工作精度高?？梢哉f機(jī)械手是工業(yè)進(jìn)步的產(chǎn)物，它也發(fā)揮了在當(dāng)今工業(yè)的至關(guān)重要的作用。如今，機(jī)械手工業(yè)已成為世界各國備受關(guān)注的產(chǎn)業(yè)。
本課題模擬了實(shí)際工業(yè)生產(chǎn)系統(tǒng)，課題將設(shè)計(jì)一個龍門機(jī)械手，將用于工作人員出入，使斷開輸送帶上的零件通過機(jī)械手進(jìn)行運(yùn)輸，需完成對工件的安全抓緊和釋放，并將零件從輸送帶的一端送到指定位置的另一端生產(chǎn)線輸送帶上。
本文闡述了機(jī)械手的發(fā)展歷史，國內(nèi)外的應(yīng)用狀況，及其巨大的優(yōu)越性，提出了具體的機(jī)械手設(shè)計(jì)要求和進(jìn)行了總體方案設(shè)計(jì)和各自由度的具體結(jié)構(gòu)設(shè)計(jì)、計(jì)算。
關(guān)鍵詞：機(jī)械手；工業(yè)；傳動；強(qiáng)度
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Abstract
Industrial manipulator is composed of target of modern mechanical body, control system, sensor system, control system and servo actuator system, operation, automatic control, a kind of imitation of human multiple programming, to complete the work of every kind of Mechatronics device in three-dimensional space. Industrial machinery hand to enhance and ensure the quality of products, improve production efficiency, plays a very important role in improving the working conditions of workers and the rapid updating of product. Industrial machinery hand technique combined with multi discipline knowledge. Including mechanism, computer, control theory, information and sensor technology, artificial intelligence, bionics and so on. It is the very active, very wide application areas.
The manipulator has many human beings do not have, including the rapid analysis of environmental capacity; strong anti-interference ability, can work for a long time and high precision work. Can be said that the manipulator is a product of the progress of industry, it also plays a vital role in the modern industry. Nowadays, industrial robot has become the concern of the industry all over the world.
This subject comes from the Yalong YL-221 automation to flexible production system, the machine independent innovation training system to simulate the actual industrial production system, according to the different stages of production machine is provided with a plurality of workstation: automatic access overhead warehouse, handling robot station, line conveyor, conveyor station station 90 degree turn, mechanical processing station, station, the station code heap.
We design a robot will be used in Longmen, staff entry, disconnected to the conveyor belt parts are transported by mechanical hand, to the completion of the work of safety grip and release, and the parts from one end to the other end of the conveyor belt production line position specified on the conveyor belt.
This paper expounds the development history of the manipulator, the application status at home and abroad, and its great superiority, puts forward the design requirements of the manipulator specific and detail structure design, overall design and various degrees of freedom.
Key Words: robot; industrial; transmission; strength
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目 錄
摘 要 II
Abstract III
目 錄 IV
第1章 緒論 1
1.1 機(jī)械手概念 1
1.2 課題研究的背景和意義 1
1.3 國內(nèi)機(jī)械手的研究 1
1.4機(jī)械手的應(yīng)用 2
第2章 總體方案機(jī)構(gòu)設(shè)計(jì) 3
2.1課題的技術(shù)要求 3
2.2設(shè)計(jì)原理 3
第3章 Z向結(jié)構(gòu)及傳動設(shè)計(jì) 4
3.1滾珠絲桿副的選擇 4
3.1.1導(dǎo)程確定 5
3.1.2確定絲桿的等效轉(zhuǎn)速 5
3.1.4確定絲桿的等效負(fù)載 5
3.1.5確定絲桿所受的最大動載荷 5
3.1.6精度的選擇 7
3.1.7選擇滾珠絲桿型號 7
3.2校核 7
3.2.1 臨界壓縮負(fù)荷驗(yàn)證 7
3.2.2臨界轉(zhuǎn)速驗(yàn)證 8
3.2.3絲桿拉壓振動與扭轉(zhuǎn)振動的固有頻率 9
3.3電機(jī)的選擇 9
3.3.1電機(jī)軸的轉(zhuǎn)動慣量 10
3.3.2電機(jī)扭矩計(jì)算 11
第4章 X軸水平移動傳動設(shè)計(jì) 13
4.1 滾珠絲杠計(jì)算、選擇 13
4.2 步進(jìn)電機(jī)慣性負(fù)載的計(jì)算 15
4.3步進(jìn)電機(jī)的選用 16
第5章 手指的相關(guān)設(shè)計(jì)與計(jì)算 19
5.1 手指的相關(guān)設(shè)計(jì)與計(jì)算 19
5.2 手爪結(jié)構(gòu)設(shè)計(jì)與校核 20
5.3 機(jī)械手手爪設(shè)計(jì)計(jì)算 21
5.3.1 手爪的力學(xué)分析 21
5.3.2 夾緊力及驅(qū)動力的計(jì)算 22
5.4 夾緊氣缸的設(shè)計(jì) 23
5.4.1 主要尺寸的確定 23
5.5 手爪夾持范圍計(jì)算 24
5.6 機(jī)械手手爪夾持精度的分析計(jì)算 25
5.7 彈簧的設(shè)計(jì)計(jì)算 26
5.8 本章小結(jié) 28
總 結(jié) 29
參考文獻(xiàn) 30
致 謝 31
5