回转式机械手机械系统的设计(含CAD图,PROE三维图)(任务书,开题报告,外文翻译,论文说明书8000字,CAD图7张,PROE三维图)
摘要
在当今社会制造生产过程中，机械手的运用程度成为衡量制造工厂自动化水平的一个重要指标。机械手的运用，使得人类的双手从繁复的重复性工作中解放出来，提高了生产效率以及生产的可靠性。同时也能在某些极端环境中，如：高温、高压、真空、毒性等，用机械手来代替人直接与这些极端环境接触，使得工人免于人身伤害。机械手在工业生产的各个环节都显示出无可比拟的竞争优势，因此在制造生产过程中得到了广泛的认可。本文讲述了基于圆柱坐标条件下的回转式单臂机械手的机械系统设计，该设计属于主要用于教学目的的机械模型。对机械手的要求是：在00到1800范围之间，将一个重500g的金属块从一个平台移至另一个平台。基于上述的使用条件以及使用目的，我们选取结构较为简单的圆柱坐标机械系统，夹持部分使用电磁吸附式抓手。考虑到教学目的工作的环境，我们选取较为清洁的气压传动方式。本次设计中机械手机械部件的动作单一，整体结构简单，较高的可靠性，易于装配，适用于机械设计、气压传动等相关课程实验教学中的原理解释和装拆练习。
关键词：机械手气压釭圆柱坐标电磁吸附
The design of the mechanical system of the Rotary Manipulator
Abstract
In the process of manufacturing production in today's society, the degree of application of the manipulator is an important indicator to measure the level of automation in manufacturing plant. The use of manipulator, liberate human hands from the complicated repetitive work and improve the production efficiency and production reliability. At the same time, in some extreme environments, such as high temperature, high pressure, vacuum, toxicity and so on. Due to the replacement of the direct contact with these extreme environments, the workers are protected from injury. The use of manipulator in all aspects of industrial production have shown unparalleled competitive advantage, so in the manufacturing process has been widely recognized. This paper describes the design of mechanical system based on cylindrical coordinates considering the condition of the use of manipulator. The design is mainly used for the mechanical model of teaching objective. The requirements of the manipulator: range from 00 to 1800, move a 500g metal from one platform to another platform. Based on the use condition above, we select the relatively simple structure of cylindrical coordinate manipulator system, and the clamping part using the electromagnetic absorption type starting point. Taking the teaching purpose of the work environment into consideration, we select a more environmental pneumatic transmission. The manipulator movements in this design is simple, simple structure, high reliability, easy assembly, so this design is suitable for mechanical design, pneumatic transmission and other related courses in the experimental teaching of the principle , assembly and disassembly practice.
Key words: Manipulator Pressure candle Cylindrical coordinates Electromagnetic absorption
目录
摘要 I
Abstract II
第一章引言 1
1.1概述 1
1.2工业机器人-机械手简介 1
1.2.1当前机械手的应用 1
1.2.2机械手常用结构及其特点 1
1.2.3回转式机械手的结构 2
1.2.4现阶段机械手的发展特点 4
第二章设计任务 5
2.1本设计要解决的问题 5
2.2研究该课题采用的手段 5
第三章回转式机械手机械系统的设计 6
3.1机械手结构总图的设计 6
3.2机械手立柱部分的设计与校核 10
3.2.1立柱回转缸选型与校核 10
3.2.2立柱气压缸选型与校核 11
3.2.3气压缸与回转缸连接法兰的设计 13
3.3机械手底座部分的设计与校核 14
3.4机械手大臂部分的设计与校核 15
3.5机械手抓手气缸的选型与校核 16
3.6机械手抓手气缸支架的设计 18
3.7机械手抓取部分的设计与校核 19
第四章机械手的三维建模与动态仿真 21
4.1 PRO-E软件基本简介 21
4.2PRO-E三维建模 21
结语 22
参考文献 23
谢辞 25
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