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毕业设计论文小型零件装配机械手设计THEDESIGNOFASMALLPARTASSEMBLYMANIPULATOR学生姓名学院名称专业名称指导教师20年5月27日摘要科学发展观为我国工程技术的发展开辟了广阔道路，而机械手作为一种高科技自动化生产设备，已经广泛应用于国民经济的各个领域。本文简要介绍了机械手的概念，机械手的组成和分类，机械手的自由度和坐标形式及国内外的发展状况。本课题设计的小型零件装配机械手，主要包括机械手的总体方案设计、机械手的机械结构设计以及驱动、控制系统设计等，实现了机械手的三自由度运动X、Y轴的移动以及X轴的旋转。设计中选用滚珠丝杠来实现X、Y方向的直线运动，采用步进电机进行驱动，同时采用步进电机实现X轴的旋转。机械手直接采用电磁吸盘抓取工件。设计的机械手结构简单，便于操作。在单片机的控制下，完成预定的装配任务。关键词机械手三自由度滚珠丝杠单片机AbstractScientificconceptofdevelopmentofengineeringtechnologyhasopenedupabroadroad,whiletherobotasahightechautomatedproductionequipment,hasbeenwidelyusedinvariousfieldsofnationaleconomy.Atfirst,thepaperintroducestheconceptionofthemanipulator,thecompositionofthemanipulatoranditsclassification,thefreedegree,theformofcoordinateandtheinformationofthedevelopmentbriefly.themechanicalstructuredesign,thedrive,thecontrolsystemdesignandsoon,realizethreedegreesoffreedommovementofthemanipulatortheXandYaxismovementandtheXaxisrotation.ThedesignchoosestheballscrewtorealizethelinearmotionintheXandYdirection,todrivebythesteppingmotor,andrealizetheXaxisrotationwiththesteppingmotor.Themanipulatorgrabsworkpiecedirectlybyelectromagneticchuch.Themanipulatorhassimplestructureanditiseasytooperate.Underthecontroloftheprocessor,itcompleteassemblytaskbyitself.KeywordsManipulatorThreeDegreesofFreedomBallscrewSCM徐州工程学院毕业设计论文I目录摘要..................................................................................................................................................IAbstract...........................................................................................................................................II1绪论.............................................................................................................................................11.1机械手概述..........................................................................................................................11.1.1机械手的组成和分类...................................................................................................11.1.2国内外发展状况...........................................................................................................41.2本课题研究的主要内容......................................................................................................51.3小型零件装配机械手的功能要求及现实意义..................................................................61.3.1小型零件装配机械手的功能要求...............................................................................61.3.2小型零件装配机械手的现实意义...............................................................................62机械手总体设计方案.................................................................................................................72.1机械手的坐标型式与自由度..............................................................................................72.1.1机械手的坐标型式.......................................................................................................72.1.2机械手的自由度...........................................................................................................82.2总体设计方案......................................................................................................................82.2.1传动行走机构...............................................................................................................82.2.2驱动行走机构...............................................................................................................92.3机械手的设计参数............................................................................................................103机械手机械系统设计...............................................................................................................123.1X轴结构的设计与选择.....................................................................................................123.1.1X轴滚珠丝杆副尺寸选择计算....................................................................................123.1.2滚动轴承型号选择计算..............................................................................................163.1.3驱动电机的选择计算..................................................................................................173.1.4X轴键的选择计算........................................................................................................183.2Y轴结构的设计与选择.......................................................................................................193.2.1滚珠丝杠副尺寸选择计算..........................................................................................193.2.2滚动轴承型号选择计算..............................................................................................233.2.3驱动电动机的选择计算..............................................................................................253.2.4Y轴键的校核................................................................................................................263.2.5二维工作台底板的选择及校核..................................................................................274机械手控制系统设计...............................................................................................................294.1控制系统的结构分类........................................................................................................294.2控制方式............................................................................................................................294.3机械手的控制电路.............................................................................................................30
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