工业机器人的设计

工业机器人设计

摘要

在生产过程工业机械手是模拟人手动作的机械设备，它可以替代人工搬运重物或单调，在高粉尘，高温，有毒，易燃，放射性和其他相对较差的工作环境。机器人可用于在生产过程中的自动化抓住并移动工件自动化设备，它是在生产过程的机械化和自动化，开发出一种新的类型的设备。近年来，随着电子技术，特别是计算机的广泛使用机器人的开发和生产的高科技领域已成为迅速发展起来的一项新兴技术，它更促进机器人的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手能够代替人类完成危险、减轻人类劳动强度、重复枯燥的工作，提高劳动生产力。

本设计是关于三自由度的圆柱形机械手。利用Auto CAD软件对制件进行设计绘图。其包括夹持器、小臂、大臂和底座。明确合理的设计思路，确定了机械手工作原理并对然夹持器、气缸、步进电机、轴承进行了校核计算并附带了简图并对零件的质量、重心、惯性主轴和惯性力矩进行辅助设计计算，可以大大减轻在设计过程中繁琐计算及校核步骤。

关键字：机械手，气缸，校核。

Abstract

Industrial manipulator is the mechanical equipment which is used in the production process and simulate to the behave of hands with electrical integration. It can carry heavy objects and work in the harsh environment which is high temperature, poisonous ,full of dust, flammable and combustible monotonous and full of radioactive substance instead of people. Manipulator is a automatic device which is used in the automatic production process and it can carry and move things. It is a new device which is developed in the mechanization and automatic production process. In recent years , with the widely used of electronic technique especially the electronic computer. The research and production of robot has became a new technology which is developing rapidly in the high-tech industry . It promotes the development of manipulator. It makes the combination of the manipulator with mechanization and automation become easier . Manipulator can complete the dangerous and boring work instead of people. It can reduce labour intensity of people and raise the labour productivity .

This design is a cylindrical manipulator which is related to delta degrees of freedom. It designs and draws the picture with Auto cad software ,it includes holder, a small arm, the big arm and the base. The clear and reasonable thinking determines the working principle of the manipulator . This also checks and calculates the holder, cylinder, stepper motor and bearing. Apart from this , it contains some pictures and design and measure the quality , barycentre principal axis of inertia and force of parts. It can greatly reduce the complicated calculation and check in the design process.

Keywords: robot, cylinder, checking

目录

摘要....................................................................... I ABSTRACT .................................................................... II 目录....................................................................... III 1绪论. (1)

1.1本课题研究的内容和意义 (1)

1.2国内外发展概况 (1)

1.3工业机械手设计内容 (2)

1.4机械手设计的作用 (2)

1.5工业机械手的分类和组成 (2)

2 手部的设计 (5)

2.1机械手设计参数和运动方案 (5)

2.1.1运动方案 (5)

2.1.2驱动系统和位置检测装置的选择： (5)

2.2手部设计的结构和计算 (6)

2.2.1机械手的基本要求 (6)

2.3手部力的计算 (7)

2.3.1夹紧力的计算 (7)

2.3.2 手爪驱动气缸的设计 (8)

2.3.3手部误差的分析 (10)

3 机械手臂的设计 (12)

3.1机械小臂设计 (12)

3.1.1小臂驱动力的计算 (12)

3.1.2小臂驱动气缸的设计 (13)

3.1.3 气缸筒壁厚 的计算 (14)

3.1.4 气缸的选用 (14)

3.1.5校核活塞的稳定性 (14)

3.1.6小臂刚度校核 (15)

3.1.7端盖的连接方式及强度计算 (15)

3.2大臂的结构设计 (16)

3.2.1大臂的结构和要求 (16)

3.2.2驱动力的计算 (17)