发布时间 : 星期五 文章自动上下料机械手的主要零部件设计及三维造型更新完毕开始阅读3b83221c591b6bd97f192279168884868762b82e
摘要
本次设计的课题是自动上下料机械手的主要零部件设计及三维造型，确定了机械手的座标型式和自由度，确定了机械手的技术参数。
机械手能代替人工操作，起到减轻工人劳动强度，节约加工时间，提高生产效率，降低生产成本的特点。在实用基础上，对自动上下料机械手直臂与夹持部件进行三维设计，其中分为三个部分：手爪、手腕、直臂。整体机械手为直角坐标型，驱动均为电机驱动，结构简单可靠，精度高。设计了手爪为平移型夹持式手爪，传动结构为滑动丝杆；手腕为回转型，转动角度为0-180°，传动结构为蜗轮蜗杆；设计了机械手的手腕结构，计算出了手腕转动时所需的驱动力矩；画出机械手的运动简图；对工作机构和传动系统进行设计计算，包括主要部件的设计计算、强度校核和运动分析；设计绘制起升装置的总图和主要零件工作图；利用三维CAD软件对主要零件进行实体设计和造型。
关键词：直臂与夹持部件；机械手；CAD二维设计；Pro/e三维设计
Abstract
The topic of this design is the main component of the automatic up-down material manipulator design and 3 d modelling, determine the coordinates of the manipulator type and degree of freedom, determine the technical parameters of the manipulator.
Robots can replace manual operation, reduce labor intensity, save processing time, improve the production efficiency, reduce the production cost. On the basis of practical, automatic manipulator arm straight up and down and clamping parts for 3 d design, which is divided into three parts: hand, wrist, arm straight. Integral type manipulator for rectangular coordinates, drive for motor drive, structure simple, reliable and high precision. Design hand claw clamping type gripper for translation, the transmission structure for sliding screw; Wrist for transformation, rotation Angle of 0-180 °, for the worm gear and worm drive structure; Manipulator wrist structure was designed, calculated the wrist when the driving moment; Draw the manipulator kinematic sketch; The working mechanism and transmission system design and calculation, including design calculation, intensity and the movement of the main parts of analysis; Design drawing general layout and main parts of lifting device working drawing; Using three-dimensional CAD software for the main parts for physical design and modelling.
Key word: Straight arm and clamping parts; Manipulator;
2 d CAD design;Pro/e 3 d design
目 录
摘要...............................................................................................................................................................I Abstract........................................................................................................................................................II Abstract ........................................................................................................................................................ I 1绪论 .......................................................................................................................................................... 1
1.1前言和意义 .................................................................................................................................. 1 1.2 工业机械手的简史 ..................................................................................................................... 1 1.3 国内外研究现状和趋势 ............................................................................................................. 3 2机械手直臂部分的总体设计 .................................................................................................................. 5
2.1 执行机构的选择 ......................................................................................................................... 5 2.2 驱动机构的选择 ......................................................................................................................... 6 2.3传动结构的选择 .......................................................................................................................... 6 2.4 机械手的基本形式选择 ............................................................................................................. 8 2.5 机械手直臂部分的主要部件及运动 ......................................................................................... 8 2.6 机械手的技术参数 ..................................................................................................................... 9 3机械手手爪的三维设计 ........................................................................................................................ 11
3.1 手部设计基本要求 ................................................................................................................... 11 3.2 典型的手部结构 ....................................................................................................................... 11 3.3 机械手手爪的设计计算 ........................................................................................................... 11
3.3.1选择手爪的类型和夹紧装置 .......................................................................................... 11 3.3.2 手爪夹持范围计算 ......................................................................................................... 12 3.3.3 滑动丝杠设计 ................................................................................................................. 13 3.3.4 直齿轮设计 ..................................................................................................................... 15 3.3.5电机选型 .......................................................................................................................... 16 3.4 机械手手爪的三维出图及其主要零部件出图 ....................................................................... 17 4机械手手腕部分的三维设计 ................................................................................................................ 20
4.1腕部设计的基本要求 ................................................................................................................ 20 4.2 腕部的结构以及选择 ............................................................................................................... 20
4.2.1 典型的腕部结构 ............................................................................................................. 20 4.2.2 腕部结构和驱动机构的选择 ......................................................................................... 20 4.3 腕部的设计计算 ....................................................................................................................... 21
4.3.1 蜗轮轴的设计计算 ......................................................................................................... 21 4.3.2 蜗轮齿轮设计 ................................................................................................................. 22 4.3.3 步进电机选型 ................................................................................................................. 23 4.4 手腕部分出图及主要零部件出图 ........................................................................................... 24
5 直臂部分的三维设计 ........................................................................................................................... 31
5.1 手臂的结构的选择及其驱动机构 ......................................................................................... 31 5.2 滚珠丝杠设计 ........................................................................................................................... 31 5.3 锥齿轮设计 ............................................................................................................................. 33 5.4 电机选型 ................................................................................................................................... 36 5.5 机械手直臂部分三维出图及主要零部件出图 ....................................................................... 36 6. 总结 ..................................................................................................................................................... 40 7.致谢 ....................................................................................................................................................... 42
参考文献 ........................................................................................................................................... 43