三自由度搬运机械手的设计（含CAD图纸）

3.0 闻远设计 2023-08-15 82 4 1020.5KB 43 页 20光币

侵权投诉

轴承坯料搬运机械手的设计

摘要

机械手是一种机械技术与电子技术相结合的高技术产品。采用机械手是提高产品质

量与劳动生产率，实现生产过程自动化，改善劳动条件，减轻劳动强度的一种有效手

段。它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的

自动化技术装备。机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳

动条件，提高劳动生产率和生产自动化水平。工业生产中经常出现的笨重工件的搬运和

长期、频繁、单调的操作，采用机械手是有效的；此外，它能在高温、低温、深水、宇宙、

放射性和其它有毒、污染环境条件下进行操作，更显示其优越性，有着广阔的发展前途

本课题的主要内容是采用机械设计原理，进行三自由度搬运机械手的设计，熟悉

三自由度机械手的运用场合和相关的设计步骤。机械手可以代替很多重复性的体力劳动

从而减轻工人的劳动强度，提高生产效率。结合三自由度设计的各方面的知识，在设计

过程中学会怎样发现问题．解决问题.研究问题。并且在设计中融入自己的想法和构思，

提高自己的创新能力。尽力使机械手使用方便，结构简单。

关键词：机械手，输送工件，搬运，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 doff 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  录
摘  要.......................................................................................................................................................- 1 -
ABSTRACT...................................................................................................................................................- 2 -
绪论.......................................................................................................................................................- 5 -
1机械手的历史..............................................................................................................................- 5 -
2 机械手的组成............................................................................................................................- 6 -
3 机械手的分类............................................................................................................................- 7 -
第2章 搬运机械手机构总体方案设计....................................................................................................- 9 -
1 搬运机械手设计要求................................................................................................................- 9 -
2 基本设计思路............................................................................................................................- 9 -
2.1 系统分析........................................................................................................................- 9 -
2.2 总体设计框图..............................................................................................................- 10 -
2.3 搬运机械手的基本参数..............................................................................................- 11 -
3 搬运机械手结构设计..............................................................................................................- 12 -
3.1 搬运机械手坐标形式的选择......................................................................................- 12 -
4 机械手材料的选择..................................................................................................................- 12 -
5机械臂的运动方式....................................................................................................................- 12 -
6 搬运机械手驱动与控制系统分析..........................................................................................- 13 -
6.1 驱动方式的选择..........................................................................................................- 13 -
6.2 控制系统的选择..........................................................................................................- 14 -
搬运机械手机械结构设计与计算......................................................................................................- 14 -
1 搬运机械手手爪设计..............................................................................................................- 14 -
2 搬运机械手手臂设计..............................................................................................................- 14 -
2.1 伸缩机械臂的设计......................................................................................................- 14 -
2.2 升降机械臂的设计......................................................................................................- 15 -
2.3 旋转机械臂的设计......................................................................................................- 17 -
3 手部设计计算..................................................................................................................- 17 -
4 腕部设计计算..................................................................................................................- 21 -
5 液压驱动系统设计..........................................................................................................- 22 -
6机身结构的设计................................................................................................................- 24 -
6.1 电机的选择..................................................................................................................- 24 -
6.2 螺柱的设计与校核......................................................................................................- 25 -
6.3 机座的机械结构示意图..............................................................................................- 26 -
搬运机械手控制系统的设计..............................................................................................................- 28 -
1 PLC简介....................................................................................................................................- 28 -
2 PLC工作原理..........................................................................................................................- 28 -
3 PLC机型的选择......................................................................................................................- 28 -
3.1 PLC机型的选择..........................................................................................................- 29 -
3.2 所选PLC的参数..........................................................................................................- 29 -
4 PLC控制面板的拟定..............................................................................................................- 30 -
5 机械手工艺过程和控制方案的确定......................................................................................- 31 -
3

文档加载中……请稍候！
如果长时间未打开，您也可以点击刷新试试。

下载文档到电脑，查找使用更方便

20 光币 4人已下载

立即下载

摘要：

轴承坯料搬运机械手的设计摘要机械手是一种机械技术与电子技术相结合的高技术产品。采用机械手是提高产品质量与劳动生产率，实现生产过程自动化，改善劳动条件，减轻劳动强度的一种有效手段。它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的自动化技术装备。机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和生产自动化水平。工业生产中经常出现的笨重工件的搬运和长期、频繁、单调的操作，采用机械手是有效的；此外，它能在高温、低温、深水、宇宙、放射性和其它有毒、污染环境条件下进行操作，更显示其优越性，有着广阔的发展前途本课题的主要内容是采用机械设计原理，进行三...

展开>> 收起<<

三自由度搬运机械手的设计（含CAD图纸）.doc

共43页,预览13页

还剩页未读，继续阅读

三自由度搬运机械手的设计（含CAD图纸）

相关推荐

开通VIP享超值会员特权

作者详情

相关内容

推荐作者

热门标签

举报选择: