三自由度机械手机械传动部分设计.rar

机械设计专业相关的毕业设计论文，里面有详细的图纸，ppt,说明书，外文翻译。

三自由度机械手机械传动部分设计

[摘要]目前，我国部分企业在产品生产和加工时仍然用人力进行工件的移动和定位，一定程度上出现了工作强度大、安全性差、操作灵活性差、定位精度低等问题，严重影响了产品的质量和生产效益。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。
本文简单介绍了本课题的来源、意义和内容，回顾了国内外机械手的发展概况，介绍了目前机器人的几种分类形式，列出了在生产、生活上和高科技领域中几种常见的机器人。本机械手的主要工作是在控制器的作用下将工件从一条流水线搬运到另一条流水线这一简单的动作，通过综合考虑选择了三自由度圆柱坐标型机械手，其工作方向为两个直线方向和一个旋转方向，结构简单，成本低，而且针对不同类型的零件增加了一个手爪，减少了闲置率，提高了工作效率。本文对机械手的机械传动部分进行了设计，简单地进行了机械手的运动分析，对驱动、传动系统进行了方案设计并进行了液压缸、丝杠、等主要部件的选取和校核。最后用AutoCAD、SolidWorks等绘制相关工程图。
关键词：三自由度；机械手；丝杠；液压技术。
 
DesignofThree Degrees of Freedom Manipulator Mechanical Transmission Parts

[Abstract]Presently, part of our Chinese corporations are still using the manpower to make themotion and orientation of work pieces in production and manufacture of the products, in partresulting in the problems such as the heavy working intensity, weak safety, poor flexibility ofmanipulation, low precision of orientation, and so on, which affect seriously the quality of theproducts and the benefit of the production. With the development of the science andtechnology and the application of the automobile product line in the production, themanipulator, who serves as the important part of the automobile product line, has alsoexperienced dramatic progress and development. Especially with the improvement of thestructure of the machine, the maturity of pneumatics and hydraulics, and the constantimprovement of the control element , and the ceaselessly ameliorative and innovative control mode, the precision, delicacy andreliability of the manipulator has been improved expressly, which contributed to alleviatingthe 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 thecorporations.
The article introduces the resource, content and practical application value of the thesis, and reviews the development of robots inside and abroad, and introduces the sort ofrobots, and enumerates several hackneyed robots in manufacture, life and high-tech. The main work of the manipulator is that put the work-piece from a line to another line the simple action under the function of the controller. Through the comprehensive consider choose three degrees of freedom cylindrical coordinates type manipulator, Its work two straight line direction and a rotating direction, simple structure, low cost and according to different types of part add a paw, reducing the unemployment, improving the working efficiency. The article main design the mechanical transmission parts of the manipulator, the writer analyses the kinematics of the manipulator, designs the project of driving system and transmission system, selects and checks hydraulic cylinder thread-bar, and so on.The lastdraw the relevant drawings in AutoCAD, SolidWorks, etc.
Keywords：Three degrees of freedom;Manipulator;Thread-bar;Hydraulic technology.

 
 
目录
摘要 I
ABSTRACT II
目录 I
第一章绪论 1
§1.1工业机械手的简史 1
§1.2课题提出的依据和意义 2
§1.3 国内外机械手研究现状及发展趋势 3
§1.4课题研究目标、研究内容和方案 3
§1.5 本章小结 4
第二章物料搬运机械手总体设计 5
§2.1机械手的组成及各部分关系概述 5
2.1.1 执行系统 5
2.1.2 驱动系统 6
2.1.3 控制系统 6
2.1.4 检测系统 6
§2.2 机械手的设计分析 7
2.2.1 设计要求 7
§2.3 总体方案拟定 8
2.3.1 机械手基本形式的选择 8
2.3.2 机械手的主要部件及运动 8
2.3.3 驱动机构的选择 9
2.3.4 机械手的动作过程及时间分配 9
§2.4 机械手的技术参数列表 10
§2.5本章小结 11
第三章机械手的手部设计计算 12
§3.1 手部设计计算要求 12
§3.2 典型的手部机构 12
§3.3 总体结构设计 12
3.3.1 油缸的选择及夹紧力的校验 13
3.3.2 弹性爪的强度校验 15
3.3.3 另一种手部的设计 15
3.3.4 夹紧力及驱动力的计算 17
3.3.5 手爪夹持范围计算 18
§3.4 手臂机构的设计 19
3.4.1 手臂设计要求 19
3.4.2 伸缩液压缸的选择 19
3.4.3 活塞杆的强度校核 19
§3.5 腰部和基座的设计 20
3.5.1 步进电机的选择 21
3.5.2 轴承的选择 23
3.5.3 滚珠丝杠的选择 23
3.5.4  谐波齿轮的选择 25
3.5.5 联轴器的选择 25
§3.6 本章小结 26
第四章总结与展望 27
参考文献 28
致谢 29