龍門式機械手的結構設計【帶CAD圖紙】

喜歡這個資料需要的話就充值下載吧。資源目錄里展示的全都有預覽可以查看的噢，下載就有,請放心下載，原稿可自行編輯修改=【QQ：11970985 可咨詢交流】=喜歡就充值下載吧。資源目錄里展示的全都有，下載后全都有,請放心下載，原稿可自行編輯修改=【QQ：197216396 可咨詢交流】= 寧XX大學畢業(yè)設計(論文)龍門式機械手結構設計專 業(yè)： 班 級： 姓 名： 學 號： 指導教師： 年 月摘 要近代的工業(yè)機械手是由目標機械本體、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設備。工業(yè)機械手對于提高和確保產品質量，提升生產的效率，改善工人的工作條件和快速更新產品起著非常重要的作用。工業(yè)機械手技術結合了多們學科的知識。包含機構學、計算機、控制論、信息和傳感技術、人工智能、仿生學等。它是當代十分活躍，應用非常廣泛的領域。機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，能長時間工作和工作精度高?？梢哉f機械手是工業(yè)進步的產物，它也發(fā)揮了在當今工業(yè)的至關重要的作用。如今，機械手工業(yè)已成為世界各國備受關注的產業(yè)。本課題模擬了實際工業(yè)生產系統(tǒng)，課題將設計一個龍門機械手，將用于工作人員出入，使斷開輸送帶上的零件通過機械手進行運輸，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線輸送帶上。本文闡述了機械手的發(fā)展歷史，國內外的應用狀況，及其巨大的優(yōu)越性，提出了具體的機械手設計要求和進行了總體方案設計和各自由度的具體結構設計、計算。關鍵詞：機械手；工業(yè)；傳動；強度IIAbstractIndustrial 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; strengthIII目 錄摘 要IIAbstractIII目 錄IV第1章 緒論11.1 機械手概念11.2 課題研究的背景和意義11.3 國內機械手的研究11.4機械手的應用2第2章 總體方案機構設計32.1課題的技術要求32.2設計原理3第3章 Z向結構及傳動設計43.1滾珠絲桿副的選擇43.1.1導程確定53.1.2確定絲桿的等效轉速53.1.4確定絲桿的等效負載53.1.5確定絲桿所受的最大動載荷53.1.6精度的選擇73.1.7選擇滾珠絲桿型號73.2校核73.2.1 臨界壓縮負荷驗證73.2.2臨界轉速驗證83.2.3絲桿拉壓振動與扭轉振動的固有頻率93.3電機的選擇93.3.1電機軸的轉動慣量103.3.2電機扭矩計算11第4章 X軸水平移動傳動設計134.1 滾珠絲杠計算、選擇134.2 步進電機慣性負載的計算154.3步進電機的選用16第5章 手指的相關設計與計算195.1 手指的相關設計與計算195.2 手爪結構設計與校核205.3 機械手手爪設計計算215.3.1 手爪的力學分析215.3.2 夾緊力及驅動力的計算225.4 夾緊氣缸的設計235.4.1 主要尺寸的確定235.5 手爪夾持范圍計算245.6 機械手手爪夾持精度的分析計算255.7 彈簧的設計計算265.8 本章小結28總 結29參考文獻30致 謝315