棒料搬运机械手设计

I摘要在社会不断发展的今天，机器人在工业现场中的应用也越来越广泛，用机器的力量代替人力，而将人类从繁重的体力劳动中解放出来是历史发展的趋势。近十几年来，机器人的开发不仅越来越优化，而且涵盖了许多领域，应用的范畴十分广阔。在工业上，自动控制系统有着广泛的应用，如工业自动化机床控制，计算机系统，机器人等。而工业机器人是相对较新的电子设备，它正开始改变现代化工业面貌。本设计的机械手是基于提高劳动生产率、产品质量和经济效益，减轻工人劳动强度而设计的。在某些劳动条件极其恶劣的条件下，工人难以用手工工作，可用本机械手代替人力劳动。本设计为四自由度圆柱坐标型工业机械手，其工作方向为两个直线方向和两个旋转方向。本设计中的四自由度棒料搬运机械手，主要是针对质量少于2KG的圆形棒料的搬运。通过气爪手指的不同选择可满足直径小于60mm的棒料的搬运。在控制器的作用下，机械手执行将工件从一条流水线拿到另一条流水线并把工件翻转过来这一简单的动作。关键词：四自由度；机械手；搬运；工业机器人IIAbstractTodaythatdevelopcontinuouslyinthesociety,TherobotaremoreandmoreUsingatindustrysceneapplication.Replacesthemanpowerwiththemachinestrength,It‘sthehistoricaldevelopmenttendencythatliberatesthehumanityfromthearduousphysicallabor.Intherecentseveralyears,therobotdevelopmentnotonlymoreandmoreoptimizes,butalsomoreoverhascoveredmanydomains.Industrially,automaticcontrolsystemsarefoundinnumerousapplications,suchasautomationmachinetoolcontrol,computersystemsandrobotics.Industrialrobotsarerelativelynewelectromechanicaldevicesthatarebeginningtochangetheappearanceofmodernindustry.Thispaperdesignforenhancesthelaborproductivity,productquality,economicefficiencyandreducestheworkerlaborintensity.Somejobworkingatextremelybadenvironment,thatpeoplecan’tworkinhand,sotherobotscanreplaceworkertodoit.Thisschemeintroducedacylindricalrobotforfourdegreeoffreedom.ItiscomposedoftwolinearaxesandtworotaryaxiscurrentThispapermainlyuseatthetransportingofcirculargoodmaterialthatqualityisshortto2KG.ThedifferentfingernailfingerwasChoicefortransportingthegoodmaterialthatdiameterissmallerthan60mm.Undercontrollerfunctiontherobotmovethecomponentsfromoneassemblylinetootherassemblylineandturnoveritinspace,performrelativelysimpletakes.Keywords:fourdegreesoffreedom;robot;transporting;Industrialrobot目录摘要..............................................................................................................................................IAbstract..........................................................................................................................................II目录..............................................................................................................................................................VII1绪论..............................................................................................................错误!未定义书签。1.1工业机器人的技术与发展..................................................................................................11.2本设计中的四自由度棒料搬运机械手所实现的功能......................................................21.3本设计中的四自由度棒料搬运机械手设计的意义..........................................................22机械手的总体设计.....................................................................................................................32.1设计要求...............................................................................................................................32.2机械手的组成......................................................................................................................32.3总方案的拟定......................................................................................................................42.4机器人的工作空间...............................................................................................................42.5机械手驱动系统的设计......................................................................................................52.5.1机械手驱动器...............................................................................................................52.5.2机械手传动机构...........................................................................................................53机械手的传动设计.....................................................................................................................73.1滚珠丝杠的选择..................................................................................................................73.2谐波齿轮减速器参数的确定..............................................................................................84机械手的各电机选择...............................................................................................................124.1机械手手臂升降步进点击的选择....................................................................................124.2机械手底座回转驱动电动机的选择................................................................................145机械手各气动件的设计计算...................................................................................................185.1气爪夹紧力的起算与气爪的选择....................................................................................185.1.1气爪夹紧力的要求.....................................................................................................185.1.2缸径的确定.................................................................................................................195.1.3行程的确定.................................................................................................................205.1.4气缸的动速度.............................................................................................................205.1.5摆动气缸的选择...................