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遼寧科技大學(xué)本科生畢業(yè)設(shè)計(jì)
裝卸工件機(jī)械手設(shè)計(jì)
摘 要
工業(yè)機(jī)器人自本世紀(jì)60年代初問(wèn)世以來(lái)，已有80萬(wàn)余臺(tái)用于世界各國(guó)的自動(dòng)化生產(chǎn)線上，扮演著靈巧自如、不知疲倦“操作者”的角色，替代生產(chǎn)工人出色的完成極其繁重、復(fù)雜、精密或者充滿著危險(xiǎn)的各種各樣的工作。不同用途的工業(yè)機(jī)器人正在工業(yè)生產(chǎn)中起到其它機(jī)器無(wú)法替代的作用。一般機(jī)器人由基座、腰、臂、腕和手五部分組成。腰和臂控制手的空間位置，腕控制手的空間姿態(tài)，而手則是實(shí)現(xiàn)對(duì)操作物體的抓放。本文設(shè)計(jì)的是裝卸工件機(jī)械手，根據(jù)設(shè)計(jì)要求本文制定了一個(gè)由液壓系統(tǒng)控制夾爪松開(kāi)、夾緊物體的設(shè)計(jì)方案，對(duì)手部、腕部及整體的結(jié)構(gòu)進(jìn)行了設(shè)計(jì)，同時(shí)對(duì)其主要零部件進(jìn)行了選擇、設(shè)計(jì)和計(jì)算，內(nèi)容包括液壓系統(tǒng)的設(shè)計(jì)計(jì)算，軸的設(shè)計(jì)和校核，對(duì)設(shè)計(jì)的液壓控制系統(tǒng)進(jìn)行了分析與編程等。通過(guò)分析計(jì)算可以得出結(jié)論，此次設(shè)計(jì)基本滿足設(shè)計(jì)要求。
關(guān)鍵詞：裝卸;工業(yè)機(jī)器人；機(jī)械手
The design of the manipulator for loading and unloading workpiece
Abstract
Since the beginning of 1960s, more than 800000 industrial robots have been used on automatic production lines of many countries all over the world, playing a role dexterous and as a free “operator” who has no sense of tireness. It can also accomplish various works that are very arduous and complicated or even full of danger instead of workers. The different application of industry robots to industrial production is playing an important role of which other machines are unable to take the place. The common robot basically consists of the waist, the arm, the wrist and the hand. Waist and arm control space position, while wrist controls special attitude, and the hand is used to realize grasping or putting objects. The design of this article is the mechanical arm of loading and unloading workpiece. According to the design requirements a schematic design has been developed with a hydraulic system controlling the claws from releasing and clamping objects, also it has been carried on the design to the structure of the hand, the wrist, and the whole. The contents including the selection of prime movers, design and check of gears, belts, and axes, the economic analysis to the feasibility of design proposal. Conclusions can be drawn through the computational analysis and this design can by and large meet the needs of the design request.
Key words：load and unload；Industrial robot ;manipulator
目錄
1 緒論 1
1.1 選題的背景、目的和意義 1
1.2 機(jī)器人的發(fā)展概況 2
1.2.1 機(jī)器人的定義 2
1.2.3 國(guó)內(nèi)機(jī)器人研究狀況 4
1.2.4 國(guó)外機(jī)器人的最新發(fā)展 5
1.2.5 機(jī)器人目前研究熱點(diǎn)及發(fā)展趨勢(shì) 6
2手指部分的設(shè)計(jì)與計(jì)算 8
2.1夾緊機(jī)構(gòu)的類型 8
2.2信息傳感器 8
2.2.1內(nèi)部信息傳感器 9
2.2.2外部信息傳感器 9
2.3液壓傳動(dòng)的設(shè)計(jì)計(jì)算 10
2.3.1手爪夾緊液壓傳動(dòng)的設(shè)計(jì)計(jì)算 11
2.3.2手爪回轉(zhuǎn)液壓傳動(dòng)的設(shè)計(jì)計(jì)算 12
2.4夾緊力的計(jì)算 14
2.4.1液壓缸產(chǎn)生的推力及運(yùn)動(dòng)速度 14
2.4.2夾緊力的計(jì)算 16
3手腕部分的設(shè)計(jì)與計(jì)算 19
3.1確定油缸的工作壓力 19
3.2確定經(jīng)油缸的流量 19
3.3確定油泵所需電機(jī)功率 19
3.4液壓缸的輸出扭矩計(jì)算 20
4手臂部分的設(shè)計(jì)與計(jì)算 22
4.1手臂的作用和組成 22
4.2對(duì)設(shè)計(jì)手臂的要求 22
4.3手臂的結(jié)構(gòu) 23
4.4手臂的設(shè)計(jì)計(jì)算 23
4.4.1確定油剛工作壓力 23
4.4.2驅(qū)動(dòng)力的設(shè)計(jì)計(jì)算 24
4.4.3偏重力矩的設(shè)計(jì)計(jì)算 26
5.機(jī)身的設(shè)計(jì)與計(jì)算 29
5.1機(jī)身升降液壓轉(zhuǎn)動(dòng)的設(shè)計(jì)計(jì)算 29
5.1.1確定油缸的工作壓力 29
5.1.2確定經(jīng)油缸的流量 29
5.1.3確定油泵所需電機(jī)功率 29
5.1.4液壓泵的校核 30
5.1.5活塞桿強(qiáng)度和穩(wěn)定性校核 32
5.2機(jī)身回轉(zhuǎn)液壓轉(zhuǎn)動(dòng)的設(shè)計(jì)計(jì)算 33
5.2.1確定油缸的工作壓力 33
5.2.2確定經(jīng)油缸的流量 33
5.2.3確定油泵所需電機(jī)功率 34
5.2.4液壓缸的扭矩計(jì)算 34
6.PLC控制 36
6.1PLC實(shí)現(xiàn)的功能 36
6.2PLC控制電路接線圖 36
6.3PLC輸入（I/O）點(diǎn)數(shù)的分配 37
6.4PLC輸出（I/O）點(diǎn)數(shù)的分配 38
6.5PLC控制梯形圖 38
6.5程序調(diào)試 42
6.5.1主程序調(diào)試 42
6.5.2手動(dòng)操作子程序調(diào)試 42
6.5.3自動(dòng)運(yùn)行子程序調(diào)試 43
結(jié)論 44
致謝 45
參考文獻(xiàn) 46