自-机电系机械设计与制造专业毕业论文[1]_2

毕业设计(论文)

题目：

学学专指

气动机械手的设计

生 姓 名: 学号： 部 (系）： 业 年 级: 机械设计与制造 导 教 师： 职称或学位:

2010 年 １0 月 29 日

目 录

摘

要...．....．.．．.....．．..．.....．．.....．....．．．．．.

．.....．..．.．3

第一章 前言 ? １．1机械手概述.．.．....．...．..．..．..．..．..．..．.．．.．....．....．4 1.2机械手的组成和分类.........．．．..............．..．....．...4

１.２.1机械手的组成.．．．．.．．.．．．...．．....．．．．.．．．．．.．．．..．4 1．２．2机械手的分类.．.．．．．...．．.．.．．..．..．．.....．．...．．．．６

第二章 机械手的设计方案

2．１机械手的坐标型式与自由度...．．．.．..．.．．.．..．.．..．．．...． 8

２．2机械手的手部结构方案设计．.．.．....．．.．．..．.．.．．.．..．．．. 8

2.3机械手的手腕结构方案设计.．...．．．.．．.．．．.．....．.．．.．..． 9 2.4机械手的手臂结构方案设计．....．．.．．．....．..．．．．..．．..．．．9 ２.5机械手的驱动方案设计．...．．．．．..．．.．..．.．...．..．．..．．.．．9

２.6机械手的控制方案设计.．．．.．．.．...．.．．...．....．．.．．．.．．．．9

２.7机械手的主要参数..．.......．.．.．.....．．.．．..．．．.．....．.．9

２．８机械手的技术参数列表..．.．...．．．.．..．．．...．．......．．．.．．9 第三章 手部结构设计

3.1夹持式手部结构．．..．.．．.．.．．．.．．．．.．..．．.．．...．.．．.....11

３．1.1手指的形状和分类．...．．．．.．．．.．.．．．..........．．..1

１

３．1.2设计时考虑的几个问题．..．．....．．.．.．..．.....．....

１４

3.１.3手部夹紧气缸的设

计．．．.．...．.．.．．...．....．．.．....14 第四章 手腕结构设计

4.1手腕的自由度．.．．...．..．．..．．．．...．．．．．...．.．．．.．.．．．． １9

４.2手腕的驱动力矩的计算．.．.．．．．．．..．．....．..．.．．.．．..．．. 19

4.２.１手腕转动时所需的驱动力矩.．.．．.．．．．．．．.．....．...

20

４.2.2回转气缸的驱动力矩计算.．．．．....．．.．.．．.．．.．．....

２2

第五章 手臂伸缩，升降,回转气缸的设计与校核

5.1手臂伸缩部分尺寸设计与校核.．...．..．．.．....．．．....．...．23

5.1.1尺寸设计．．.．．.．..．...．．．．．..．．．....．.．．..．．.．.．.２3

5.１.2尺寸校

核．..．．.....．．．.．.．.．.．．...．...．...．..．.．．２4

５ .1 .3导向装置．.．..．．．.．....．...．．.．．．.．．．....．..．...

２5

５ ．1 ．4平衡装

置.．．．．.．．．．．．..．．...．..．．．.．...．.．.．．.．.25

５.２手臂升降部分尺寸设计与校核.．..．．．．．．...．.．..．．．．......２6

5.2．１尺寸设计..．.．．...．.．．．．．.．...．．.．．.．....．．.．．.．2

６

5.2.２尺寸校核．.．.．..．．...．.．．．．.．.．....．．.．..．...．．..2

６

5．3手臂回转部分尺寸设计与校核．．．...．．．....．..．......．...．27

5.3.1尺寸设计．．．．．．．．．．.．..．..．．.．．．．.．.．.．.．．..．．．．．２

7

5.3．2尺寸校核．．..．．.．．.．．．．.．．．...．．．.．.．..．..．．．．...27

第六章 机械手的PLC控制设计．．....．．...．．..．．.．.．．....．..．．...27

6．1可编程序控制器的选择及工作过程．．.．..．．．．．．．.....．.．．..27

６.1.1可编程序控制器的选

择.．．．..．．...．．．..．...．．..．．．．２7

６.1．2可编程序控制器的工作过

程．．...．..．．．..．．..．.．....27

6.2可编程序控制器的使用步骤..........．...........．．．..．．．23 第七章 结论..．．....．..．．...．......．.．．．．..．..．．．.．..．．．..．．..２４

致谢 .......．.．.．．．．．．．.．．....．....．..．．．.．．..．..．.．..．.．．．..29 参考文献.．.．.．．．.．.．．．．．....．.....．.．..．．．...．．．.．．．.．.．.．．..3０

专业相关的资料．．.．．．．..．.．．．..．..．.．.．．．．.．...．..．.．..．.．．．.．31