3個(gè)自由度搬運(yùn)機(jī)械手的設(shè)計(jì)
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- 3個(gè)自由度搬運(yùn)機(jī)械手的設(shè)計(jì)
摘 要
機(jī)械手是一種機(jī)械技術(shù)與電子技術(shù)相結(jié)合的高技術(shù)產(chǎn)品。采用機(jī)械手是提高產(chǎn)品質(zhì)量與勞動(dòng)生產(chǎn)率，實(shí)現(xiàn)生產(chǎn)過程自動(dòng)化，改善勞動(dòng)條件，減輕勞動(dòng)強(qiáng)度的一種有效手段。它是一種模仿人體上肢的部分功能，按照預(yù)定要求輸送工件或握持工具進(jìn)行操作的自動(dòng)化技術(shù)裝備。機(jī)械手可以代替人手的繁重勞動(dòng)，顯著減輕工人的勞動(dòng)強(qiáng)度，改善勞動(dòng)條件，提高勞動(dòng)生產(chǎn)率和生產(chǎn)自動(dòng)化水平。工業(yè)生產(chǎn)中經(jīng)常出現(xiàn)的笨重工件的搬運(yùn)和長期、頻繁、單調(diào)的操作，采用機(jī)械手是有效的；此外，它能在高溫、低溫、深水、宇宙、放射性和其它有毒、污染環(huán)境條件下進(jìn)行操作，更顯示其優(yōu)越性，有著廣闊的發(fā)展前途。
本課題的主要內(nèi)容是采用機(jī)械設(shè)計(jì)原理，進(jìn)行三自由度搬運(yùn)機(jī)械手的設(shè)計(jì)，熟悉三自由度機(jī)械手的運(yùn)用場合和相關(guān)的設(shè)計(jì)步驟。機(jī)械手可以代替很多重復(fù)性的體力勞動(dòng)，從而減輕工人的勞動(dòng)強(qiáng)度，提高生產(chǎn)效率。結(jié)合三自由度設(shè)計(jì)的各方面的知識(shí)，在設(shè)計(jì)過程中學(xué)會(huì)怎樣發(fā)現(xiàn)問題．解決問題.研究問題。并且在設(shè)計(jì)中融入自己的想法和構(gòu)思，提高自己的創(chuàng)新能力。盡力使機(jī)械手使用方便，結(jié)構(gòu)簡單。
關(guān)鍵詞：機(jī)械手，輸送工件，搬運(yùn)，三自由度
ABSTRACT
Manipulator is a mechanical technology and electronic technology with the combination of high technology products. Using manipulator is to improve product quality and productivity, and realize the automatic production process, improve working conditions, and reduce labor intensity of a kind of effective method. It is an imitation of the upper part of the human body function, according to the predetermined requirement or parts transportation holding tools for operation of the automation technology and equipment. Robots can replace the hands of heavy labor, significantly reduce the labor intensity, improve working conditions, and improve labor productivity and production automation level. Industrial production often appears in the handling of the heavy and long-term, frequent, drab operation, USES the manipulator is effective; In addition, it can be in high temperature, low temperature, deep water, the universe, radioactive and other toxic, pollution environment conditions operation, more shows its superiority, with broad prospects.
This topic is the main content of the mechanical design principle of the design of the three dof carrying manipulator, familiar with three degrees of freedom of the manipulator using occasions and related design steps. Robots can replace a lot of repeatability of physical labor, so as to reduce the labor intensity, improve production efficiency. Combined with three degrees of freedom all aspects of design knowledge, in the design process learn how to find out the problem to solve problems. And in the design idea and into their idea, improve their innovation ability. Try to make robots easy to use simple structure.
Key Words: Manipulator, conveying work piece, handling, three degrees of freedom
目 錄
第1章 緒 論 4
1.1機(jī)械手的歷史 4
1.2機(jī)械手的組成 5
1.3機(jī)械手的分類 6
第2章 搬運(yùn)機(jī)械手機(jī)構(gòu)總體方案設(shè)計(jì) 8
2.1搬運(yùn)機(jī)械手設(shè)計(jì)要求 8
2.2基本設(shè)計(jì)思路 1
2.3搬運(yùn)機(jī)械手結(jié)構(gòu)設(shè)計(jì) 11
2.4 機(jī)械手材料的選擇 11
2.5機(jī)械臂的運(yùn)動(dòng)方式 11
2.6搬運(yùn)機(jī)械手驅(qū)動(dòng)與控制系統(tǒng)分析 12
第3章 搬運(yùn)機(jī)械手機(jī)械結(jié)構(gòu)設(shè)計(jì)與計(jì)算 13
3.1搬運(yùn)機(jī)械手手爪設(shè)計(jì) 13
3.2 搬運(yùn)機(jī)械手手臂設(shè)計(jì) 13
3.3 手部設(shè)計(jì)計(jì)算 16
3.4腕部設(shè)計(jì)計(jì)算 20
3.5液壓驅(qū)動(dòng)系統(tǒng)設(shè)計(jì) 21
3.6機(jī)身結(jié)構(gòu)的設(shè)計(jì) 23
第4章 機(jī)械手控制系統(tǒng)的設(shè)計(jì) 27
4.1 PLC簡介 27
4.2 PLC工作原理 27
4.3 PLC機(jī)型的選擇 27
4.4 PLC控制面板的擬定 29
4.5 機(jī)械手工藝過程和控制方案的確定 30
4.5 PLC程序編寫 33
總結(jié)與展望 40
參考文獻(xiàn) 41
致 謝 42
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