《抓取機(jī)械手畢的設(shè)計(jì)》由會(huì)員分享,可在線閱讀,更多相關(guān)《抓取機(jī)械手畢的設(shè)計(jì)(6頁(yè)珍藏版)》請(qǐng)?jiān)谘b配圖網(wǎng)上搜索。
1、.
浙江理工大學(xué)
本科畢業(yè)設(shè)計(jì)(論文)
題目 抓取機(jī)械手的設(shè)計(jì)
學(xué) 院
專業(yè)班級(jí)
姓 名 學(xué) 號(hào)
指導(dǎo)教師
系 主 任 學(xué)院院長(zhǎng)
年 月 日
畢業(yè)設(shè)計(jì)誠(chéng)信聲明
我謹(jǐn)在此保證:本人所做的畢業(yè)設(shè)計(jì),凡引用他人的研究成果均已在參考文獻(xiàn)或注釋中列出。設(shè)計(jì)說(shuō)明書(shū)與圖紙均由本人獨(dú)立完成,沒(méi)有抄襲、剽竊他人已經(jīng)發(fā)表或未發(fā)表的研究成果行為。如出現(xiàn)以上違反知識(shí)產(chǎn)權(quán)的情況,本人愿意承擔(dān)相應(yīng)的責(zé)任。
聲明人(簽名):
2、 年 月 日
摘 要
在當(dāng)今大規(guī)模制造業(yè)中,企業(yè)為了提高生產(chǎn)效率,保障產(chǎn)品質(zhì)量,普遍重視生產(chǎn)過(guò)程的自動(dòng)化程度,機(jī)械手作為自動(dòng)化生產(chǎn)線上的重要成員,逐漸被企業(yè)所認(rèn)同并采用。本文簡(jiǎn)單的介紹了機(jī)械手的概念,機(jī)械手的組成,機(jī)械手各個(gè)部件的整體尺寸設(shè)計(jì),液壓驅(qū)動(dòng)的特點(diǎn)。
第一, 概括課題研究的意義,對(duì)國(guó)內(nèi)外機(jī)械手的特點(diǎn)和發(fā)展概況進(jìn)行了綜述,并提出本文的研究?jī)?nèi)容。
第二,明確抓取機(jī)械手的設(shè)計(jì)要求,對(duì)機(jī)械手進(jìn)行功能結(jié)構(gòu)分析,初步提出設(shè)計(jì)方案,簡(jiǎn)要說(shuō)明這些機(jī)構(gòu)中的單元解。最后結(jié)合自己看過(guò)和參考的文獻(xiàn),提出自己的總體設(shè)
3、計(jì)方案,確定機(jī)械手的自由度,驅(qū)動(dòng)方式。
第三,設(shè)計(jì)抓取機(jī)械手。明確機(jī)械手的驅(qū)動(dòng)為液壓驅(qū)動(dòng),液壓驅(qū)動(dòng)元件把壓縮液體的壓力能轉(zhuǎn)換為機(jī)械能,用來(lái)驅(qū)動(dòng)個(gè)元件。同時(shí)根據(jù)確定的自由度并結(jié)合真正人手的結(jié)構(gòu)和功能設(shè)計(jì)出整個(gè)機(jī)械手。首先對(duì)機(jī)械手抓進(jìn)行設(shè)計(jì),接著設(shè)計(jì)出腕部回轉(zhuǎn)液壓缸以及伸縮臂的設(shè)計(jì),設(shè)計(jì)這3個(gè)機(jī)械手最關(guān)鍵的部位后開(kāi)始設(shè)計(jì)零部件,并利用Pro/E及CAD輔助軟件繪制出零件圖及裝配圖。
最后,對(duì)抓取機(jī)械手的結(jié)構(gòu)設(shè)計(jì)做出總結(jié),分析機(jī)械手的應(yīng)用前景,指出其中存在的不足。
關(guān)鍵詞:機(jī)械手,液壓驅(qū)動(dòng),機(jī)械設(shè)計(jì)
Abstract
In modern's large-scale manufact
4、uring, Enterprises in order to improve production efficiency,and to ensure product quality, Generally value the degree of automation of the production process, Manipulator as an important member of the automated production line, Gradually recognized by businesses and using. This paper briefly introd
5、uces the concept of robot, The composition of the manipulator, The overall size of the design of various components of the robot.
Firstly, to summarize the significance of the research, reviewed the characteristics and development overview of the robot at home and abroad, and put forward the conten
6、ts of this article.
Secondly,Make sure crawling robot design requirement,Functional structure analysis of the manipulator,The initial proposed design,A brief description of the cell solution in these institutions.Finally, have read and reference literature, put forward their overall design, to dete
7、rmine the degree of freedom of the robot-driven approach.First, the mechanical clutch design,Then design a wrist rotary hydraulic cylinder and the design of the telescopic boom,Began to design parts in the design of three of the most critical parts to the robot,And the use of Pro/ E and CAD auxiliar
8、y software to map out the part drawing and assembly drawing.
Thirdly, Designed crawling robot. First gripper design, then design a wrist rotary hydraulic cylinders and telescopic boom design, the design began to design the most critical parts of these three robotic parts, and the use of Pro / E an
9、d CAD auxiliary software to map out the parts drawing and assembly drawing.Clear manipulator driven hydraulic drive, hydraulic drive components to the pressure of the compressed liquid can be converted to mechanical energy used to drive a component.
Finally, the structural design of the crawling ro
10、bot summary analysis of the application prospects of the winding machine, pointed out that there's inadequate.
Key words: Manipulator; Hydraulic drive; Mechanical Design
. v
.
目 錄
摘 要
Abstract
第1章 緒論1
1.1
11、課題研究的目的以及意義1
1.2 國(guó)內(nèi)外機(jī)械手的概況和發(fā)展趨勢(shì)2
1.2.1國(guó)內(nèi)外機(jī)械手的概況2
1.2.2機(jī)械手的發(fā)展趨勢(shì)3
1.3 研究的基本內(nèi)容4
第2章 總體方案設(shè)計(jì)5
2.1機(jī)械手設(shè)計(jì)的要求5
2.2總功能分析6
2.3 總功能的分解7
2.3.1 總功能分解的依據(jù)7
2.3.2總功能的分解8
2.3.3 機(jī)械手總體方案設(shè)計(jì)9
第3章 機(jī)械手的結(jié)構(gòu)設(shè)計(jì)10
3.1機(jī)械手抓液壓缸的機(jī)構(gòu)設(shè)計(jì)10
3.2腕部回轉(zhuǎn)液壓缸的設(shè)計(jì)13
3.2.1腕部設(shè)計(jì)的基本要求13
3.2.2回轉(zhuǎn)缸驅(qū)動(dòng)的典型腕部結(jié)構(gòu)13
3.2.3腕部結(jié)構(gòu)計(jì)算14
3.2.4回轉(zhuǎn)液壓缸所驅(qū)
12、動(dòng)力矩計(jì)算16
3.2.5回轉(zhuǎn)缸內(nèi)徑D計(jì)算18
3.2.6腕部軸承的選擇19
3.3 伸縮臂的設(shè)計(jì)19
3.3.1 方案設(shè)計(jì)19
3.3.2伸縮臂機(jī)構(gòu)結(jié)構(gòu)設(shè)計(jì)20
3.4其它主要零部件的設(shè)計(jì)23
3.4.1滑臺(tái)的設(shè)計(jì)23
3.4.2連接件的設(shè)計(jì)24
3.4.3連接板的設(shè)計(jì)25
3.4.4矩形導(dǎo)軌的設(shè)計(jì)25
3.4.5夾持手指26
3.4.6 V形手指的設(shè)計(jì)27
3.4.7楔塊的設(shè)計(jì)28
3.5總體三維結(jié)構(gòu)圖28
第4章 總結(jié)30
參考文獻(xiàn)31
致謝32
附錄33
需要正文全文及圖紙可聯(lián)系QQ:631768401
. v