电机壳体搬运机械手设计说明书

毕 业 设 计（说明书）

题 目 电机壳体搬运机械手 专 业机械设计制造及其自动化 学生姓名 学 号 指导教师 论文字数 完成日期 2010年5月

机械设计制造及其自动化

摘要：随着科学技术的发展和自动化生产线在企业产品生产中的广泛应用，机械手作为自动化生产线的重要组成部分也得到了长足的发展和进步。尤其是随着机械结构的优化，气动、液压技术的成熟，控制元件的发展和控制方式的不断改进和创新，机械手的动作精确性、控制灵活性和工作可靠性得到了明显的改善。机械手的出现在减轻工人劳动强度和难度、提高工作效率和质量、降低生产成本上做出了突出贡献，机械手的发展在企业的发展和创收上起到了举足轻重的作用。本课题是一个机、电结合较为紧密的实用性项目，文中对PLC的应用、机械结构的设计、控制方法的选择等方面进行了必要的探讨。最后，总结了全文，指出了机械手的改进措施、应用前景和发展方向。 关键字：机械手，液压驱动，PLC（可编程控制器）

Abstract:With the development of the science and technology and the application of the automobile product line in the production, the manipulator, who serves as the important part of the automobile product line, has also experienced dramatic progress and development. Especially with the improvement of the structure of the machine, the maturity of pneumatics and hydraulics, and the constant improvement of the control element such as the singlechip, PLC, the motion controller, and soon, and the ceaselessly ameliorative and innovative control mode, the precision, delicacy and reliability of the manipulator has been improved expressly, which contributed to alleviating the worker’s labor intensity and difficulty, boosting the working efficiency and quality, reducing cost, as to play an extremely important part in the development and income of the corporations. The subject is a practical item where the mechanics and electrics are integrated very closely. The writer has made a necessary discussion in the application of PLC, the optimize of mechanical structure and the study of control mode and researches into the mechatronics. the writer summarizes the whole thesis and points out the amelioration, perspective and developing direction of the manipulator.

Key Words: manipulator, the hydraulic pressure drive, PLC(Programmable Logic Controller)

目录

第1章 绪论 .................................................................................................................................... 1 1.1 工业机器人（机械手）的概述 ......................................................................................... 1 1.1.1 工业机器人的发展 ................................................................................................... 1 1.1.2 工业机器人的分类 ................................................................................................... 1 1.1.3 工业机械手的应用 ................................................................................................... 2 1.2 设计问题的提出 ................................................................................................................. 2 第2章 机械手的总体设计............................................................................................................. 3 2.1 机械手的组成及各部分关系概述 ..................................................................................... 3 2.2 机械手的设计分析 ............................................................................................................. 3 2.2.1 设计要求 ................................................................................................................... 3 2.2.2 总体设计任务分析 ................................................................................................... 3 2.2.3 总体方案拟定 ........................................................................................................... 5 第3章 机械手结构的设计分析..................................................................................................... 6 3.1 末端操作器的设计分析 ..................................................................................................... 6 3.1.1 末端操作器的概述 ................................................................................................... 6 3.1.2 末端操作器结构的设计分析 ................................................................................... 6 3.2 手腕的设计分析 ................................................................................................................. 6 3.3 手臂的设计分析 ................................................................................................................. 6 3.4 机身和机座的设计分析 ..................................................................................................... 7 第4章 机械手各部件的载荷计算................................................................................................. 8 4.1 设计要求分析 ..................................................................................................................... 8 4.2 手指夹紧机构的设计 ......................................................................................................... 8 4.2.1 手指夹紧机构载荷的计算 ....................................................................................... 8 4.3 手臂伸缩机构载荷的计算 ................................................................................................. 9 4.4 手臂俯仰机构载荷的计算 ............................................................................................... 10 4.5 手腕摆动机构载荷力矩的计算 ....................................................................................... 10 4.6 机身摆动机构载荷力矩的计算 ....................................................................................... 12 4.7 初选系统工作压力 ...................................................... …… 此处隐藏：6721字，全部文档内容请下载后查看。喜欢就下载吧 ……