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XX大學(xué)學(xué)士學(xué)位論文
摘 要
隨著科學(xué)技術(shù)的發(fā)展，人類(lèi)社會(huì)進(jìn)入了一個(gè)以自動(dòng)化和電子技術(shù)為標(biāo)志的新時(shí)代。自動(dòng)化機(jī)械大量應(yīng)用于工業(yè)工程中，其中工業(yè)機(jī)械手的應(yīng)用最為廣泛。工業(yè)機(jī)械手是一種模仿人手動(dòng)作的機(jī)器，可以取代很多的人工操作，并可以取得更高的效率。
本論文介紹了用于夾持外圓件的上下料機(jī)械手的設(shè)計(jì)。它采用液壓驅(qū)動(dòng)，點(diǎn)位程序控制，動(dòng)作平穩(wěn)，控制方便。
本論文主要闡述該機(jī)械手的升降和回轉(zhuǎn)的設(shè)計(jì)和計(jì)算。首先從機(jī)械手的基礎(chǔ)知識(shí)介紹有關(guān)機(jī)械手的組成、分類(lèi)、腕部及臂部設(shè)計(jì)、液壓控制的多種方案，再?gòu)谋敬卧O(shè)計(jì)所要求的功能原理設(shè)計(jì)開(kāi)始，對(duì)于不同的方案加以比較和論證，從中可確定出最優(yōu)方案，并采用其方案，在對(duì)其的結(jié)構(gòu)設(shè)計(jì)的基礎(chǔ)上，對(duì)其驅(qū)動(dòng)力和驅(qū)動(dòng)力力矩進(jìn)行計(jì)算。著重闡述了機(jī)身的設(shè)計(jì)，具體闡述了機(jī)械手的設(shè)計(jì)原則和步驟，分析了設(shè)計(jì)時(shí)應(yīng)注意的問(wèn)題，并對(duì)機(jī)械手的平穩(wěn)性及定位精度給予詳細(xì)的論述。設(shè)計(jì)并分析了該機(jī)械手所用的液壓控制的方法和過(guò)程。由于經(jīng)驗(yàn)不足，知識(shí)有限，難免有誤，有待改進(jìn)。
關(guān)鍵詞 機(jī)械手；液壓；驅(qū)動(dòng)力；定位精度
ABSTRACT
With the development of technology, the human society entered a modern ear for with automation with electronics technique for marking. Automation machine large quantity is applied in industry engineering inside, among them the application of the industry machine hand is the most extensive. The industry machine of a kind of mimicry hand action, can replace a lot of artificials operate, combining can obtain the higher efficiency.
This thesis introduces to used for clipping to hold the outside circle a design for and down anticipating machine hand. It adopts the liquid presses to drive, ordering a procedure control, acting steady, control convenience.
This thesis expatiates the rise and fall of the machine’s hand primarily with the design of the turn-over with compute. Constitute, divide into section form the relevant machine in introduction in knowledge in foundation of the machine hand first, wrist a various projects for and arm department designing, liquid pressing control, start from this design a function for requesting principle, take into the comparison to the different project with the argument, can make sure the superior project from the inside, combine to adopt its project, in as to it’s of the foundation of the construction design, as to it’s driver force and moment proceed the calculation. Emphasize the design that expatiated the fuselage, expatiated the design principle of the machine hand in a specific way with the step, analyzed the problem of design should notice, and give to the steady and fixed position accuracy of the machine hand detailed treatise. Because of experience shortage, the knowledge is limited, difficult do not need the mistake, treat to improve.
Key phrase manipulator； liquid presses； driving force； fixed position accuracy
目 錄
摘要 ………………………………………………………………………… I
緒論 ………………………………………………………………………… 1
1 工業(yè)機(jī)械手的概述 ………………………………………………… 3
1.1 工業(yè)機(jī)械手的分類(lèi) ……………………………………………… 3
1.2 工業(yè)機(jī)械手的組成 ……………………………………………… 4
1.3 機(jī)械手的自由度和坐標(biāo)形式 ……………………………………… 5
2 自動(dòng)上下料機(jī)械手的總功能原理及各部分設(shè)計(jì) …………………… 7
2.1 功能原理設(shè)計(jì) ……………………………………………………… 7
2.2 手部設(shè)計(jì) …………………………………………………………… 7
2.2.1手部設(shè)計(jì)要求 ………………………………………………… 8
2.2.2手部結(jié)構(gòu) ……………………………………………………… 8
2.2.3 夾持式手爪的計(jì)算 …………………………………………… 11
2.3、腕部設(shè)計(jì) ………………………………………………………… 13
2.3.1 腕部設(shè)計(jì)要求 ………………………………………………… 13
2.3.2 腕部結(jié)構(gòu) ……………………………………………………… 14
2.4 臂部設(shè)計(jì) ………………………………………………………… 15
2.4.1臂部的設(shè)計(jì)要求 ……………………………………………… 15
2.4.2臂部的結(jié)構(gòu) …………………………………………………… 20
2.4.2.1 臂部的伸縮運(yùn)動(dòng)結(jié)構(gòu) ………………………………… 20
2.4.2.2 臂部的伸縮油缸的計(jì)算 ……………………………… 21
2.4.2.3 臂部的回轉(zhuǎn)運(yùn)動(dòng) ……………………………………… 23
2.4.2.4 臂部的升降運(yùn)動(dòng) ……………………………………… 24
2.4.2.5 臂部升降油缸的計(jì)算 …………………………… 25
3 機(jī)械手的其它部分裝置……………………………………………… 28
3.1 行程限位裝置 ……………………………………………… 28
3.2 緩沖定位裝置 ……………………………………………… 28
4 機(jī)械手的總體方案總結(jié) ………………………………………………… 30
4.1 傳動(dòng)方案的確定 ………………………………………………… 30
4.2 規(guī)格參數(shù) …………………………………………………… 30
4.3 結(jié)構(gòu)特點(diǎn) …………………………………………………… 30
4.4 機(jī)械手的液壓傳動(dòng)系統(tǒng) …………………………………… 32
4.5 機(jī)械手的緩沖與定位 ……………………………………… 34
參考文獻(xiàn) ………………………………………………………… 35
致謝 ……………………………………………………………… 36
附錄
第IV頁(yè)