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摘 要
氣動(dòng)機(jī)械手是以氣壓為驅(qū)動(dòng)力的機(jī)械手。機(jī)械手并不是在簡(jiǎn)單意義上代替人工的勞動(dòng)，而是綜合了人的特長(zhǎng)和機(jī)器特長(zhǎng)的一種擬人的電子機(jī)械裝置，既有人對(duì)環(huán)境狀態(tài)的快速反應(yīng)和分析判斷能力，又有機(jī)器可長(zhǎng)時(shí)間持續(xù)工作、精確度高、抗惡劣環(huán)境的能力，它主要是用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。所以氣動(dòng)機(jī)械手能夠降低勞動(dòng)強(qiáng)度，提高生產(chǎn)效率。但它的缺點(diǎn)也很明顯，因?yàn)闅怏w具有很大的可壓縮性, 要做到氣動(dòng)機(jī)械手精確定位難度很大, 尤其是難以實(shí)現(xiàn)任意位置的多點(diǎn)定位；而且可壓縮性也帶來(lái)不能承受過(guò)重的負(fù)載的限制。傳統(tǒng)氣動(dòng)系統(tǒng)只能靠機(jī)械定位置的調(diào)定位置而實(shí)現(xiàn)可靠定位, 并且其運(yùn)動(dòng)速度只能靠單向節(jié)流閥單一調(diào)定, 經(jīng)常無(wú)法滿(mǎn)足許多設(shè)備的自動(dòng)控制要求。
本課題經(jīng)過(guò)深刻的研究發(fā)現(xiàn)，目前生產(chǎn)線上的氣動(dòng)翻轉(zhuǎn)機(jī)械手一個(gè)運(yùn)動(dòng)進(jìn)程只能實(shí)現(xiàn)一次抓取和翻轉(zhuǎn)功能的，感覺(jué)這種機(jī)械手效率太低。所以本次設(shè)計(jì)針對(duì)這個(gè)缺點(diǎn)，設(shè)計(jì)出了一種氣動(dòng)翻轉(zhuǎn)機(jī)械手，它在一個(gè)運(yùn)動(dòng)進(jìn)程能實(shí)現(xiàn)兩次抓取和翻轉(zhuǎn)，提高了工作效率，加快生產(chǎn)效率。全文由五章構(gòu)成：
關(guān)鍵詞：氣動(dòng)裝置；機(jī)械手;翻轉(zhuǎn)裝置；夾瓶器；
Abstract
Pneumatic manipulator is a robot which is based on Pressure-driven. The robot is the combination of expertise and expertise of an anthropomorphic machine electro-mechanical device, not simply instead of manual labor. It owns both the rapid response to the environment state and the ability of a long continuous operation, high accuracy, and the resistance to harsh environments. It is mainly used to crawl at a fixed program, and carry objects and operate tools automatically. So Pneumatic Manipulator can reduce labor intensity, improve production efficiency. However, its disadvantages are obvious. Pneumatic Manipulator getting the precise positioning is very difficult, especially achieving multi-point positioning to anywhere because of the great compressibility of gas. Also, the compressibility limits a load to be too heavy. Traditional pneumatic system only relies on the set position of the mechanical giving location and reliable positioning and velocity which relies on a single one-way throttle. So it is often unable to meet many requirements of the automatic control equipment.
After a deep study, we found that the pneumatic flip robot on the current production line can only be achieved crawling and flip function once in a movement process whose efficiency is too low. So we design a pneumatic flip robot which can achieve the two crawling and flipping in a motion process. There is no doubt that the pneumatic flip robot can improve work efficiency and speed up the production efficiency.
Key words: pneumatic devices; robot; turning device; clip bottle;
目 錄
摘 要
Abstract
第1章 緒論 1
1.1 引言 1
1.2氣動(dòng)機(jī)械手的發(fā)展 1
1.2.1國(guó)外氣動(dòng)機(jī)械手狀況 1
1.2.2國(guó)內(nèi)氣動(dòng)機(jī)械手情況 3
1.3發(fā)展趨勢(shì) 3
1.3.1重復(fù)高精度 3
1.3.2模塊化 3
1.3.3無(wú)給油化 4
1.3.4 機(jī)電氣一體化 4
1.4 機(jī)械手夾持部件結(jié)構(gòu)示意圖 4
1.4.1 外夾持型機(jī)械手 4
1.4.2 內(nèi)夾持型機(jī)械手 5
1.5國(guó)內(nèi)外氣動(dòng)機(jī)械手設(shè)計(jì)舉例 5
1.5.1與模具切割相結(jié)合 5
1.5.2 機(jī)械手虛擬樣機(jī) 6
1.5.3 高精度機(jī)械手 6
第2章 氣動(dòng)翻轉(zhuǎn)機(jī)械手總體設(shè)計(jì) 8
2.1 抓取系統(tǒng)的初步設(shè)計(jì) 8
2.2 翻轉(zhuǎn)系統(tǒng)的初步設(shè)計(jì) 8
2.2.1 錐齒輪電機(jī)翻轉(zhuǎn) 8
2.2.2 鏈輪鏈條氣缸翻轉(zhuǎn) 9
2.2.3 翻轉(zhuǎn)方案選擇 9
2.3氣動(dòng)翻轉(zhuǎn)機(jī)械手的三維建模、裝配思路 10
2.3.1各部分零件設(shè)計(jì) 10
2.3.2 氣動(dòng)翻轉(zhuǎn)機(jī)械手的運(yùn)動(dòng)學(xué)仿真 10
2.3.3 研究思路方案、可行性分析及預(yù)期成果 11
第3章 氣動(dòng)翻轉(zhuǎn)機(jī)械手重要零部件設(shè)計(jì)校核及其裝配 12
3.1氣缸的設(shè)計(jì)和校核 12
3.1.1 夾緊系統(tǒng)氣缸設(shè)計(jì)和校核 12
3.1.2 翻轉(zhuǎn)系統(tǒng)氣缸設(shè)計(jì)和校核 14
3.2齒輪設(shè)計(jì)和校核 15
3.2.1齒輪參數(shù)的選擇 15
3.2.2齒輪幾何尺寸確定 15
3.2.3齒根彎曲疲勞強(qiáng)度計(jì)算 16
3.3齒條的設(shè)計(jì)和校核 18
3.3.1齒條的設(shè)計(jì) 18
3.4 固定機(jī)架上的軸設(shè)計(jì)和校核 20
3.4.1求輸入軸上的功率、轉(zhuǎn)速和轉(zhuǎn)矩 20
3.4.2求作用在齒輪上的力 20
3.4.3 初步確定軸的最小直徑 21
3.4.4軸的結(jié)構(gòu)設(shè)計(jì) 21
3.4.5精確校核軸的疲勞強(qiáng)度 23
3.5圓錐滾子軸承的設(shè)計(jì)和校核 25
3.6鍵連接設(shè)計(jì)和校核 26
3.6.1輸入軸鍵計(jì)算 26
3.6.2中間軸鍵計(jì)算 26
3.6.3輸出軸鍵計(jì)算 27
3.7聯(lián)軸器的設(shè)計(jì)和校核 27
第4章 三維建模和運(yùn)動(dòng)仿真 29
4.1 整體裝配圖 29
4.2夾緊系統(tǒng)裝配圖 29
4.3氣缸推動(dòng)和翻轉(zhuǎn)系統(tǒng)裝配圖 30
4.4 氣缸推動(dòng)夾緊裝置系統(tǒng)裝配圖 30
第5章 總結(jié)與展望 32
5.1總結(jié) 32
5.2展望 32
參考文獻(xiàn) 33
致 謝 35