自动换刀机械手的总功能设计论文

摘要

在本论文中，首先扼要的介绍了自动换刀装置，以及将自动换刀装置发展成机械手的原因和机械手在生产中的作用；在第二部分中，介绍了工业机械手的组成和分类以及机械手的缓冲器与定位元件，并对机械手的手机身作了简单的介绍。在第三部分中我们分别就驱动系统、控制系统、执行系统论证了一些方案，并从中选出了一些合理的功能单元，最后进行最佳方案的组合。经详细的技术评价与综合方案评价后确定本论文中的方案一为最优；由于整体设计的需要，我们选择了液压系统作为驱动系统。一方面，液压传动的速度快，反应灵敏，传动平稳；另一方面是其运行精确，可以达到较高的定位精度。第四部分进行了有关机械手的计算。第五部分介绍了我所设计的滑座伸缩和回转机构。第六部分我们对工业机械手的工作顺序进行了分析。第七部分我们叙述了未来机械手的发展趋势。由此我们可以看到目前工业机械手的应用在逐渐的扩大，技术性能在不断的提高。最后，我们记录了心得体会。在设计中，我们参考了一些文摘并翻译了一篇名为“Estimation of heat fluxes during high-speed drilling”的外文。

关键词：机械手;液压传动;刀具

ABSTRACT

In this dissertation, the part one introduced concisely the set that can up or down cutter automatically and it gave the reason why we developed it into the manipulator and manipulator’s function in the production. In the second part, it introduced the integrant and assortment about the manipulator, then it told us what is the free degree and coordinate of the manipulator. In this section, we respectively demonstrated some plan carefully about drive-system, control system, actuator system, and then selected some reasonable plans of function unit from these. At last, we decided the best way. After evaluating the brief technology and general plans, we conducted that the plan A is the best. Because of the whole design’s request, we selected liquid-actuated system as actuator system. Because in one hand, the liquid-acetated is fast, reacts swift and drives steadily. On the other hand, for it has accurately movement and orientates precisely. The part three do some calculates about manipulator. The part four do some analysis on the manipulator’s operative order. The part five, we narrate the development tendency of the future manipulator. From the above, we can see that the application of the current industrial manipulator is expanded gradulately and the technologic capability is improved on and on. In addition,according to the information collected and the content of design, we made the animated on the basis of the cutter clear. Finally, we recorded our personal insight. We referred some literatures and translated an article named “Estimation of heat fluxes during high-speed drilling” from English into Chinese.

Key words: manipulator, liquid-actuated system, and cutter

目录

摘要

前言 (1)

1工业机械手的简介 (2)

1.1工业机械手的组成 (2)

1.2工业机械手的分类方法简介 (2)

1.3工业机械手的机身简介 (2)

1.3.1设计机身应注意的问题 (3)

1.3.2机身的结构方案 (3)

1.3.3驱动力的计算 (5)

1.3.4机身的方案评价 (5)

1.4缓冲器与定位元件的设计 (5)

1.4.1 机械手的运动特征 (6)

1.4.2 开关型机械手的速度及位置控制 (6)

1.4.3 机械传动型机械手速度及位置控制 (8)

1.4.4 驱动系统和电控系统的选择 (8)

2自动换刀机械手的总功能设计 (12)

2.1自动换刀机械手的黑箱描述 (12)

2.2 机械手功能单元的分类 (12)

3自动换刀机械手的方案确定 (13)

3.1总体的布置要求 (13)

3.2自动换刀机械手各个部分的最终方案的确定 (13)

3.3自动换刀机械手缓冲部分的原理 (17)

4液压系统的设计与计算 (18)

4.1结构上的总要求 (18)