論文標(biāo)準(zhǔn)WORD格式排版 37頁(yè) 附機(jī)械手底座部件圖.dwg 機(jī)械手總裝配圖A0.dwg 氣動(dòng)原理圖A2.dwg 氣爪部件圖A2.dwg

目 錄
設(shè)計(jì)總說(shuō)明 IV
INTRODUCTION V
第一章 緒論 1
1.1 工業(yè)機(jī)器人的概述與發(fā)展 1
1.2 本設(shè)計(jì)中的四自由度棒料搬運(yùn)機(jī)械手所實(shí)現(xiàn)的功能 2
1.3 本設(shè)計(jì)中的四自由度棒料搬運(yùn)機(jī)械手設(shè)計(jì)的意義 2
2 機(jī)械手的總體設(shè)計(jì) 3
2.1 設(shè)計(jì)要求 3
2.2 機(jī)器手的組成 3
2.3 總體方案擬定 3
2.4 機(jī)器人的工作空間 4
2.5 機(jī)械手驅(qū)動(dòng)系統(tǒng)設(shè)計(jì) 5
2.5.1 機(jī)械手驅(qū)動(dòng)器 5
2.5.2 機(jī)械手傳動(dòng)機(jī)構(gòu) 5
3 機(jī)械手的傳動(dòng)設(shè)計(jì) 7
3.1 滾珠絲杠的選擇 7
3.2 諧波齒輪減速器參數(shù)的確定 8
4 機(jī)械手的各電動(dòng)機(jī)的選擇 12
4.1 機(jī)械手手臂升降步進(jìn)電機(jī)的選擇 12
4.2 機(jī)械手底座回轉(zhuǎn)驅(qū)動(dòng)電動(dòng)機(jī)的選擇 14
5 機(jī)械手各氣動(dòng)件的設(shè)計(jì)計(jì)算 17
5.1 氣爪夾緊力的計(jì)算與氣爪的選擇 17
5.1.1 氣爪夾緊力要求 17
5.1.2 缸徑的確定 18
5.1.3 行程的確定 19
5.1.4氣缸的運(yùn)動(dòng)速度 19
5.1.4 擺動(dòng)氣缸的選擇 20
5.2 手臂伸縮氣缸的選擇 22
6 機(jī)器人控制系統(tǒng)設(shè)計(jì) 25
6.1 機(jī)械手控制器的選擇 25
6.2 機(jī)器手控制系統(tǒng)的特點(diǎn)及對(duì)控制功能的基本要求 25
6.3 控制系統(tǒng)的總體設(shè)計(jì) 25
7 手臂驗(yàn)算與機(jī)械手參數(shù) 28
7.1 手臂平衡的驗(yàn)算 28
7.2 機(jī)械手參數(shù) 29
設(shè)計(jì)總結(jié) 30
鳴 謝 30
參考文獻(xiàn) 31

在社會(huì)不斷發(fā)展的今天，機(jī)器人在工業(yè)現(xiàn)場(chǎng)中的應(yīng)用也越來(lái)越廣泛，用機(jī)器的力量代替人力，而將人類(lèi)從繁重的體力勞動(dòng)中解放出來(lái)是歷史發(fā)展的趨勢(shì)。
近十幾年來(lái)，機(jī)器人的開(kāi)發(fā)不僅越來(lái)越優(yōu)化，而且涵蓋了許多領(lǐng)域，應(yīng)用的范疇十分廣闊。
在工業(yè)上，自動(dòng)控制系統(tǒng)有著廣泛的應(yīng)用，如工業(yè)自動(dòng)化機(jī)床控制，計(jì)算機(jī)系統(tǒng)，機(jī)器人等。而工業(yè)機(jī)器人是相對(duì)較新的電子設(shè)備，它正開(kāi)始改變現(xiàn)代化工業(yè)面貌。
本設(shè)計(jì)的機(jī)械手是基于提高勞動(dòng)生產(chǎn)率、產(chǎn)品質(zhì)量和經(jīng)濟(jì)效益，減輕工人勞動(dòng)強(qiáng)度而設(shè)計(jì)的。在某些勞動(dòng)條件極其惡劣的條件下，工人難以用手工工作，可用本機(jī)械手代替人力勞動(dòng)。
本設(shè)計(jì)為四自由度圓柱坐標(biāo)型工業(yè)機(jī)械手，其工作方向?yàn)閮蓚€(gè)直線方向和兩個(gè)旋轉(zhuǎn)方向。
本設(shè)計(jì)中的四自由度棒料搬運(yùn)機(jī)械手，主要是針對(duì)質(zhì)量少于2KG的圓形棒料的搬運(yùn)。通過(guò)氣爪手指的不同選擇可滿足直徑小于60mm的棒料的搬運(yùn)。
在控制器的作用下，機(jī)械手執(zhí)行將工件從一條流水線拿到另一條流水線并把工件翻轉(zhuǎn)過(guò)來(lái)這一簡(jiǎn)單的動(dòng)作.

關(guān)鍵詞：四自由度；機(jī)械手；搬運(yùn)；工業(yè)機(jī)器人


INTRODUCTION

Today that develop continuously in the society, The robot are more and more Using at industry scene application. Replaces the manpower with the machine strength, It‘s the historical development tendency that liberates the humanity from the arduous physical labor.
In the recent several years, the robot development not only more and more optimizes, but also moreover has covered many domains.
Industrially, automatic control systems are found in numerous applications, such as automation machine tool control, computer systems and robotics. Industrial robots are relatively new electromechanical devices that are beginning to change the appearance of modern industry.
This paper design for enhances the labor productivity, product quality, economic efficiency and reduces the worker labor intensity. Some job working at extremely bad environment, that people can’t work in hand, so the robots can replace worker to do it.
This scheme introduced a cylindrical robot for four degree of freedom. It is composed of two linear axes and two rotary axis current
This paper mainly use at the transporting of circular good material that quality is short to 2KG. The different fingernail finger was Choice for transporting the good material that diameter is smaller than 60mm.
Under controller function the robot move the components from one assembly line to other assembly line and turn over it in space, perform relatively simple takes.

KEYWORDS: four degrees of freedom; robot; transporting; Industrial robot
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