小型鑄件上料機(jī)械手設(shè)計(jì)

論文編號(hào):JX1453  論文字?jǐn)?shù):11047.頁(yè)數(shù):23   附任務(wù)書，開題報(bào)告，中期報(bào)告，外文翻譯，CAD圖，及CAXA圖

摘    要
 小型鑄件上料機(jī)械手廣泛應(yīng)用于工業(yè)生產(chǎn)中，它能解決人力上料強(qiáng)度大、工作效率低等問題。本設(shè)計(jì)以實(shí)際生產(chǎn)中小型鑄件的上料過程為背景，重點(diǎn)在于機(jī)械手手腕夾取裝置和軌跡的設(shè)計(jì)上，從而保證快速精確完成上料。
 整個(gè)設(shè)備的運(yùn)動(dòng)可以分為一下幾個(gè)部分：腰部的回轉(zhuǎn)運(yùn)動(dòng)、后臂的俯仰運(yùn)動(dòng)、前臂的俯仰運(yùn)動(dòng)、手腕的轉(zhuǎn)動(dòng)和俯仰運(yùn)動(dòng)、手部的夾緊運(yùn)動(dòng)。手碗的轉(zhuǎn)動(dòng)和手部的夾緊采用氣壓缸驅(qū)動(dòng)的方式，其他的運(yùn)動(dòng)則采用電機(jī)驅(qū)動(dòng)的方式。
 具體完成的工作有：① 腰部系統(tǒng)的理論分析、設(shè)計(jì)計(jì)算及圖紙繪制；② 手臂的設(shè)計(jì)及圖紙繪制；③ 手腕及其抓手的設(shè)計(jì)計(jì)算及圖紙繪制。
 采用機(jī)械手提高工作效率，減少工作強(qiáng)度，有很大的實(shí)用價(jià)值。
 
關(guān)鍵詞：機(jī)械手；小型鑄件；五自由度；上料設(shè)備

ABSTRACT
 Small Casting Manipulator widely used in industrial production,which can solve the problems of high intensity labor and low efficiency in the work. The design of the actual production of small and medium casting process on the background material and the emphasis are clamp device of wrist of the manipulator and its path, which can guarantee transporting loading and unloading accurate exact.
 The entire equipment's movement may divide into next several parts: the waist's gyroscopic movement、the latter arm's pitching movement、the forearm's pitching movement、rotation and pitching movement of the wrist. Hand's clamp selects the method which the barometric pressure cylinder actuates, and other movements use the way of the motor-driven.
 Completes specifically the work as follows: ① waist system's theoretical analysis, design calculation and blueprint plan;  ② arm's design and blueprint plan；③ the design calculation of wrist and gripping device and blueprint plan.
 Manipulator's application can raise the working efficiency, reduces the working strength, and has the very great use value.
 
 Key words： Manipulator; Small castings; Five degrees-of-freedom; Feeding  equipment

目    錄
摘要………………………………………………………….. .I
ABSTRACT………………………………………………………….II
1 前言…………………………………………………………….. …………… .1
 1.1機(jī)械手概述......... .......................……………..1
 1.2 國(guó)內(nèi)外機(jī)械手的發(fā)展?fàn)顩r…............………………..1
2 機(jī)械手的設(shè)計(jì)方案..................…………………….3
 2.1 設(shè)計(jì)的相關(guān)要求與數(shù)據(jù)………………………………………………..4
 2.2 機(jī)械手的坐標(biāo)形式…………………………………………………..5
 2.3 機(jī)械手的自由度…………………………………………………………….6
 2.4 實(shí)現(xiàn)形式的選擇…………………………………………………………….7
3 各個(gè)部分的設(shè)計(jì)及計(jì)算…………………………………………………………………8
 3.1 手部的設(shè)計(jì)……………………………………………………………………….8
 3.2 手部的旋轉(zhuǎn)……………………………………………………………………….9
 3.3 手腕的俯仰……………………………………………………………11
 3.4 前臂結(jié)構(gòu)的設(shè)計(jì)………………………………………………………………...12
 3.5 后臂結(jié)構(gòu)的設(shè)計(jì)………………………………………………………………...13
 3.6 腰部的設(shè)計(jì)…………………………………………................14
 3.7 軸承的選用……………………………………………………………………...15
4 設(shè)計(jì)說明………………………………………………………………………………..16
5 結(jié)論..................………………………....17
參考文獻(xiàn)..................………………………………….18
致謝..................……………………………………….19