大型四边形滚动机器人设计与研究设计说明书.doc

大型四边形滚动机构的滚动与研究毕业设计【含CAD图纸、SW三维】

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毕业设计(论文) 大型四边形滚动机器人的设计与研究学 号:姓 名:专 业:机械设计制造及其自动化系 别: 机械工程系指导教师:讲师副教授 年五月摘 要机械工业是一个国家的重要产业,机械工业的发展无时不刻都在影响着国家经济的发展,人类的进步离不开机械工业的发展。在全球经济发展的大环境下,中国各个行业被其他国家的先进技术影响的同时,越来越多的外国企业和品牌传播到中国已经成为现实。在新的市场需求的推动下,对大型四边形滚动机器人进行改良和优化是当务之急。有大型机器人生产制造企业对设备的安全指标的有着一定生产的严格要求。在生产设备的企业,充分考虑到在设备运行中可能出现的问题,从而减少噪声污染引起的振动或不当操作设备的现象等。国内大型四边形滚动机器人设备的研发及制造要与全球号召的高效经济、安全稳定主题保持一致。大型四边形滚动机器人的发展与人类社会的进步和科学技术的水平密切相关。本毕业设计的目标是设计一种大型四边形滚动机构,该机构尺寸为大型,利用人体操作实现机构运动的控制。采用四杆机构作为设计基础,通过机构设计与仿真设计实现滚动功能。关键词:大型四边形滚动机器人;结构;四杆机构;曲柄摇杆iABSTRACTThe environment of global economic development, China industries affected by other countries advanced technology at the same time, foreign enterprises and brand spread to more and more Chinese has become an opportunity. Cap pressing machine in industry through a variety of ways have been working with the relevant technology, and constantly improve their own strength and core competitiveness, and narrow the gap with developed countries. In the new market demand, update the sleeve pressing machine is a pressing matter of the moment. The production of pipe pressing machine equipment manufacturing enterprises to fully tap the potential of the market, vigorously develop the sleeves of large low cost pressing special machinery and equipment, plays a positive role in the evolution of automatic assembly, the assembly of mechanical equipment. There is a large pipe equipment on equipment safety index has strict requirements of production. In the production equipment of enterprises, give full consideration to the possible problems in the operation of the equipment, so as to reduce the noise pollution caused by vibration or improper operation of equipment phenomenon. and manufacturing of domestic pipe pressing equipment with global appeal, economic, security and stability of the theme consistent. Increase R & D and production pipe pressing equipment of new energy saving, efficient sleeve pressing machine is the trend of development of the industry.Recently, the use of machinery industry, bearing and shaft sleeve shaft were investigated, found that the shaft, bearings and bushings in the machinery industry is one of the key parts. Come very naturally in the assembly of the installation is also very simple. In the installation if the use of artificial pressure with not only the labor intensity is too large and the size of each other is not easy to ensure the shaft, bearing and shaft sleeve, so the design of a special press be imperative.Key word: Micro walking robot;construction;four-bar linkage;crank-rockeriv目 录摘 要iABSTRACTii目 录iii1绪论1 1.1课题来历与研究的目的以及意义1 1.2大型四边形滚动机器人的发展现状2 1.3本课题研究的内容5 1.4 该机器人的Solidworks设计7 1.4.1 草图绘制9 1.4.2 基准特征,参考几何体的创建10 1.4.3 拉伸、旋转、扫描和放样特征建11 1.4.4 工程图的设计12 1.4.5 装配设计12 2 大型四边形滚动机器人总体方案结构的设计12 2.1 大型四边形滚动机器人的总体方案图12 2.2 大型四边形滚动机器人的工作原理12 3 机械传动的设计计算16 3.1 伺服电机的选型计算16 3.2 传动轴的设计计算17 3.3 轴承的设计计算17 4 主要零部件的强度校核18 4.1 传动轴强度的校核19 4.2 轴承强度的校核计算19 结论19 致 谢20 参考文献21附录 一32附录 二401 绪论1.1课题的来源与研究的目的和意义 由于机械工程的知识总量已经远远超越个人掌握所有,一些专业知识是必不可少的。但是过度的专业知识分割,使视野狭隘,可以多多参加技术交流,和参加科研项目,缩小范围,提升新技术的进步和整个块的技术,提高外部条件变化的适应能力。封闭的专业知识的太狭隘,考虑的问题太特殊,在工作中协调困难,不利于自我提高。因此,自上世纪第二十年代末,出现了一体化的趋势。人们越来越重视基础理论,拓宽领域,对专业合并的分化。机械工程可以增加产量,提高劳动生产率,提高生产的经济效益为目标,并研制和发展新的机械产品。在未来,新产品的开发,降低资源消耗,清洁的可再生能源,成本的控制,减少或消除环境污染作为一个超级经济目标和任务。机器能完成人的手和脚,耳朵和眼睛等等器官完全不能直接完成的任务。现代机械工程机械和机械设备创造出更多、更精美的越来越复杂,很多幻想成为过去的现实。人类现在能成为天空的上游和宇宙,潜入海洋,数十亿光年的密切观察,细胞和分子。电子计算机硬件和软件,人类的新兴科学已经开始加强,并部分代替人脑科学,这是人工智能。这一新的发展已经显示出巨大的作用,但在未来几年还将继续创造出不可思议的奇迹。人类智慧的增长并没有减少手的效果,而是要求越来越精致,手工制作,更复杂的工作,从而促进手功能。又一方面实践促进人脑智力。在人类的进化过程中,以及在每个人的成长过程中,大脑和手是互相促进和平行进化。大脑和手之间的人工智能和机械工程的近似关系,唯一不同的是,智能硬件还需要使用机械制造。在过去,各种机械离不开人类的操作和控制,反应速度和运算精度的进化是非常缓慢的大脑和神经系统,人工智能将消除这种限制。相互促进,计算机科学和机械工程进展之间的平行,将在更高层次的新一轮发展的开始使机械工程。在第十九世纪,机械工程的知识总量仍然是有限的,大学在欧洲,它与一般的土木工程是一门综合性的学科,称为土木工程,下半场的第十九个世纪成为一门独立的学科。在第二十世纪,随着机械工程和知识增长的发展开始分解,机械工程专业,有分支机构。在第二十世纪中期趋势分解,在时间之前和之后的第二次世界大战结束时达到的峰值。由于机械工程的知识总量已经远远从个人掌握所有,一些专业是必不可少的。但是过度的专业知识使分割,视野狭隘,可以查看和统筹大局和全球工程和技术交流,缩小范围,新技术的进步和整个块的技术,外部条件变化的适应能力差。封闭的专业知识的专家太狭,考虑的问题太特殊,在工作协调困难,不利于自我提高。因此,自上世纪第二十年代末,出现了一体化的趋势。人们越来越重视基础理论,拓宽领域,对专业合并的分化。综合职业分化和发展知识循环过程的合成,是合理和必要的。从不同的专业和专业知识的专家,也有综合的知识了解不够,看看其他学科和项目作为一个整体,从而形成一种相互强烈的集体工作。综合和专业水平。有机械工程全面而专业的冲突;在综合性工程技术也有综合和专业问题。在人类所有的知识,包括社会科学,自然科学和工程技术,有一个更高的水平,更广泛的综合性和专业性的问题。1.2 大型四边形滚动机器人的发展现状 机器人是最典型的机电一体化数字化装备 ,技术附加值很高 ,应用范围很广 ,作为 先进制造业的支撑技术和信息化社会的新兴产业 ,将对未来生产和社会发展起越来越重要 的作用。国外专家预测 , 机器人产业是继汽车、计算机之后出现的新的大型高技术产业。据国际机器人联合会( IFR )统计 世界机器人市场前景看好 ,从20世纪下半叶起 , 世界机器人产业一直保持着稳步增长的良好势头 。 进入90年代 ,机器人产品发展速度 加快 ,年增长率平均在 10% 左右 ,2000 年增长率上升到 15% ,预计21 世纪初 ,作在各领域的工业机器人将突破100万台。正如 2l 世纪日本创建机器人社会技术发 展战略报告指出 , 机器人技术RT 与信息技术( IT )一样,在强化产业竞争力 “ 方面是极为重要的战略高技术领域。培育未来机器人产业是支撑 2l 世纪日本产业竞争力的 产业战略之 最近,韩国也将智能机器人作为十大战略产业之一列入国家发展规划( 2003 2007 年 ),现正在实施中。机器人广泛应用于各行各业 。主要进行焊接、装配、搬运 、加工、喷涂、码垛等复杂作业。目前,全球现役工业机器人 83 万台。过去 10 年,机 器人的价格降低约 80% ,现在继续下降,而欧美劳动力成本上涨了 40% 。现役机器人的 平均寿命在 10 年以上,可能高达 15 年 , 它们还易于重新使用 。 由于机器人及自动化 成套装备对提高制造业自动化水平 , 提高产品质量和生产效率 、 增强企业市场竞争力 、 改善劳动条件等起到了重大的作用 , 加之成本大幅度低和性能的迅速提高 , 其增长速度 较快 。 据国际机器人联合会及联合国欧洲经济委员会 ( UCENE ) 统计 , 如表 l 所 示 , 2001 年机器人安装量为 7.8 万台套 ,年增长率 9% 。 机器人的应用主要有两种 方式 , 一种是机器人工作单元 , 另一种是带机器人的生产线 , 并且后者在国外已经成 为机器人应用的主要方式 。 以机器人为核心的自动化生产线适应了现代制造业多品种 、 少批量的柔性生产发展方向 , 具有广阔的市场发展前景和强劲生命力 , 已开发出多种面 向汽车 、 电气机械等行业的自动化成套装备和生产线产品 。 在发达国家 , 机器人自动 化生产线已形成一个巨大的产业,年市场容量约为1000亿美元 。 像国际上著名公司 ABB 、 Comau 、 KUKA、BOSCH、NDC、SWISSLOG 、 村田等都是机器人自 动化生产线及物流与仓储自动化设备的集成供应商。 据日本工业机器人协会统计, 早期的日本工业机器人产业年产值约为 50 亿日元 , 经 过 70 年代的应用期和 80 年代的普及期, 1981 年产值达到 1000 亿日元, 1991 年提 到 高到 6000 亿日元 , 到 2000 年 , 其产值达到 10800 亿日元 , 2005 年将达到 18500亿日元。据国际机器人协会统计 , 2003 年工业机器人发货量呈现强劲增长势头 。 与 2002 年相比 , 2003 年全球范围内机器人的订货量增长约 10% 以上。预计,工业机器人 的世界市场将从 2002 年的 68600 台套增长到 2006 年的 91100 多台套,年平均增长 7.4% 。我国的机器人研究开发工作始于 20 世纪 70 年代初, 到现在已经历了 30 年的历 程 。 前 10 年处于研究单位自行开展研究工作状态 , 发展比较缓慢 。 1985 年后开始 列入国家有关计划,发展比较快。特别是在 “ 七五 ” 、 八五 ” 、 九五 ” 机器人 “ “ 技术国家攻关 、 “ 863 ”高技术发展计划的重点支持下,我国的机器人技术取得了重大 发展。 在机器人基础技术方面 : 诸如机器人机构的运动学 、 动力学分析与综合研究 , 机 器人运动的控制算法及机器人编程语言的研究 , 机器人内外部传感器的研究与开发 , 具 有多传感器控制系统的研究,离线编程技术、遥控机器人的控制技术等均取得长足进展 , 并在实际工作中得到应用。 在机器人的单元技术和基础元部件的研究开发方面 : 诸如交直流伺服电机及其驱动 系统、测速发电机、光电编码器、液压(气动)元部件、滚珠丝杠、直线滚动导轨 、 谐 波减速器 、 RV 减速器 、 十字交叉滚子轴承 、 薄壁轴承等均开发出一些样机或产品 。 但这些元部件距批量化生产还有一段距离。 在机器人控制装置的研制方面:已开发出具有双 CPU 、多 CPU 和分级分层控制的机 器人控制装置多台,主控计算机的档次也逐渐升级。 在机器人操作机研制方面:已开发出一些先进的操作机和特种机器人,如 AGV 自 动导引车 ),壁面爬行机器人,重复定位精度为 O.024mm 的装配机器人,可潜入海 底 6000m 的水下机器人,移动机器人,移动遥控机器人,主从操作机器人等,有些已达实 用化水平并用于实际工程。在机器人的应用工程方面 : 目前国内已建立了多条弧焊机器人生产线,装配机器人 生产线 , 喷涂生产线和焊装生产线 。 国内的机器人技术研发力量已经具备了大型机器人 工程设计和实施的能力 , 整体性能已达到国际同类产品的先进水平 , 而整体价格仅为国 外同类产品的三分之二甚至一半,具有很好的性能价格比和市场竞争力。据统计,九五 ” 期间,我国工业机器人的需求量以每年 30 以上的速度增长。“2000 年,我国工业机器人的拥有量约为 3500 台,其中以点焊、弧焊、喷漆、注塑、装配、搬运、冲压等各类机器人为主,销售额为 6 7 亿元。 1986 2000 年产品销量如表 3 所示。 据有关专家预测 , 我国机器人 2005 年拥有量将增至 7600 台 , 年销售额为 28.7 亿元 ; 2010 年拥有量为 17300 台,年销售额为 93.1 亿元。根据发达国家产业发展与升 级的历程和工业机器人产业化发展趋势,到 2015 年中国机器人市场的容量约达十几万台 套。 我国近几年机器人自动化生产线已经不断出现,并给用户带来显著效益 。 随着我国 工业企业自动化水平的不断提高,机器人自动化线的市场也会越来越大 , 并且逐渐成为 自动化生产线的主要方式 。 我国机器人自动化生产线装备的市场刚刚起步 , 而国内装备 制造业正处于由传统装备向先进制造装备转型的时期 , 这就给机器人自动化生产线研究开 发者带来巨大商机 。 据预测 , 目前我国仅汽车行业、电子和家电行业 、 烟草行业 、 新能源电池行业等 ,年需求此类自动化线就达 300 多条 ,产值约为 60 多亿元人民币 。 预计在 2005 年左右需求此类自动化生产线达到 600 条 。 据初步测算 ,“ 十一五 ” 期 间汽车制造业的需求市场容量将达到 800 多亿元人民币。我国现有主要生产工业机器人厂家其生产规模较小, 这与当前市场需求有较大差距。 生产规 模达到大批量生产能力,才能提高机器人的稳定性、可靠性及降低成本 , 才能占领国内市 场 。 目前主要生产第一代示教再现型机器人 。 随着建筑施工 、 石化 、 食品 、核工 业、水下、高空及微加工行业的需求,将推出一批新机型,如大负载、高精度 、 蛇形的 、 无人飞行器以及家用 、 病人护理 、 盲人引导犬等 。 目前正在逐步建立上海 、 沈阳 、 北京机器人及其自动化生产线产业基地 , 开发出一批有市场前景的 , 具有自主知识产权 的机器人及其自动化生产线产品 。 进一步加强与外企合作 , 引入先进技术及资金使我国 成为国际生产机器人基地,占领国内市场,走向世界。1.3本课题研究的内容 大型四边形滚动机器人的设计重点是依靠SOLIDWORKS。在设计过程中,了解大型四边形滚动机器人的结构特征和三维软件的使用要领。本文的设计目标是设计大型四边形滚动机器人。利用人体操作实现机构运动的控制,采用四杆机构作为设计基础,通过机构设计与仿真设计实现滚动功能。其研究内容包括:(1)功能分析与方案设计;(2)结构设计与三维造型;(3)运动仿真;(4)控制系统设计。1.4 该机器人的Solidworks设计 熟悉SolidWorks的工作环境;了解SolidWorks的命令,掌握在SolidWorks工作环境中文件的打开、保存、导入等基本操作,掌握三维建模流程。1.4.1草图绘制 掌握点、直线、矩形、弧度圆等基本图形的绘制方法;掌握样条、文字等高级几何图形的绘制方法;理解集合约束的概念并在草图绘制中熟练应用几何约束;熟练应用阵列、实体转换等草图绘制工具;能综合应用各种草图绘制实体和利用草图绘制工具完成草图绘。1.4.2 基准特征-参考几何体的创建 清楚明白基于特征的建模方式、参数化思想等概念;灵活运用各种建立基准点的方法;灵活运用各种建立基准轴方法;灵活运用各种建立基准面的方法;灵活运用坐标系的建立方法;能根据建模需要综合应用各种参考几何体。1.4.3拉伸、旋转、扫描和放样特征建模 灵活运用拉伸特征的概念与建立方法;灵活运用旋转特征的概念与建立方法;掌握扫描特征的概念与建立方法;灵活运用放样特征的概念与建立方法;通过实践能够准确分析零件的特征,灵活运用拉伸和旋转也正建立三维模型。综合应用扫描、放样、弯曲、镜向、阵列等特征建立各种实体。1.4.4工程图设计 灵活运用用户自定义工程图格式文件的方法;灵活运用建立标准三视图,剖视图,断面图,局部图,辅助视图等方法;灵活运用各种注释的方法。1.4.5装配设计 灵活运用自底向上的装配方法;灵活运用生成装配体爆炸图的方法;灵活运用SolidWorks智能装配技术;灵活运用装配体零部件的状态和属性控制,并能够在装配体中设计子装配体;灵活运用干涉检查;灵活运用自上向下的装配方法;灵活运用在装配模型工程图中添加零件序号;灵活运用生成装配体材料明细表的方法。2 大型四边形滚动机器人总体方案结构的设计2.1 大型四边形滚动机器人总体方案结构的设计本次设计的大型四边形滚动机器人采取的方案是:采用碳钢板通过销轴连接的方式来制作主体,主体里面安装步进电动机作为动力源,驱使曲柄连杆机构运动,然后曲柄连杆机构开始运动,使得我的机器人的步行功效得以实现,其具体方案结构图如下:2.2 大型四边形滚动机器人的工作原理该大型四边形滚动机器人采用步进电动机作为动力源,驱使曲柄连杆机构运动,然后曲柄连杆机构开始运动,使机器人按照不同的步态实现滚动功能。其具体步态规划图如下图所示:3 机械传动的设计计算3.1 伺服电机的选型计算 已知整个大型四边形滚动机器人的总重量130KG,其他重量70G,我们取总重量为200Kg,移动速度为12r/min。即:具体的电机设计计算如下:1、确定运行时间本次设计加速时间 负载速度(m/min)有速度可知每秒上升50mm,电机转速 3.负载转矩式中:4.电机转矩启动转矩必须转矩S为安全系数,这里取1.0。 根据以上得出数据,我们选用电机型号为160BL-A,此电机厂家为机电产品。依据电动机参数和特性曲线可得: 根据计算和特性曲线以及电机基本参数表,我们选用电机型号为160BL-4030H1-LK-B,电机额定功率为0.1KW,额定转矩为7.62N.m,最高的转矩是9N.m,额定的转速是3000r/min,以下是电动机的效果图:外形尺寸130x160,电机输出轴径为25mm。3.2 传动轴的设计计算 轴作为机器的一个关键组成部分,其为各类传动部件的安装,传动的扭矩和旋转运动围绕轴进行,而且经过轴承和机架连接。为了满足定位轴上的紧固件和容易加工和装配的轴类零件和拆卸,通常轴设计成阶梯轴。轴系的零件是由轴和它上边的零部件构成一个装配体系,研究轴的过程中不仅要研究轴体自己的数据,还要将系统里的全部零碎部件融合在一起。 因为用于振动的传递的轴体不仅要传送扭矩,还得经受住弯矩,是以本人研究的阶梯性轴是转动轴。因为确定了小带轮的参数,相应的大带轮随之确定。接下来的工作就是计算轴体的直径了。轴体的研究需要凭借扭转强度来调整弯曲的强度,因为可用作轴的原料比较多,所以必须得明确轴的应用环境,还有规定诸如刚度,强度以及别的机构机能。可以使用热处理这种方法,当然也要琢磨怎样使加工简单并且花费较少,用研究计算所得的数据以确定轴体的用料,故采取45号钢当成轴体的原料,它需要40MPa的切应力。然后需要做正火或者调质处理来确保它的力学性能。 1、初步计算轴的直径扭转强度估计轴的最小直径d,轴的最小直径mm,查表16.2,c=112, p=20.35, n=851,代入设计公式得=17.26mm。考虑键槽等要素对轴的影响,轴的直径应增加以弥补轴的键槽强度减弱。取轴直径d=20mm,就是最右边装带轮处直径等于20mm。装有密封元件和滚动轴承处的直径,应与密封元件和轴承的内孔径尺寸保持一致。轴体上面存在两支点的轴承要选用一样的标准,方便加工轴承的座孔。挨着的轴段,应使直径不一样构成轴肩,轴肩在轴体上部件定位以及承受轴向力时要提供相应的高度,轴肩的直径差通常选5到10mm,本文轴肩处采取5毫米的直径差,接着把每段轴体的长度尺寸匹配到一块,还要注意轴承座的安装以及结构是否合理,同样,螺钉等部件的长度和别的的因素,这样即可确定出轴的各段长度了。3.3 轴承的设计计算轴承的选择并不是只考虑轴径一个因素,还要考虑到轴承的性能,一般要考虑到其寿命、可靠度(指该轴承达到或超过规定寿命的概率)、静载荷、动载荷、额定寿命、基本额定寿命、基本额定载荷等等很多因素。最主要的是允许空间、载荷的大小和方向、轴承工作转速、旋转精度、轴承的刚性(一般磙子轴承的刚性大于球轴承)、轴向游动、安装和拆卸。因为在本设计的轴上径向载荷大,轴向载荷小,而且存在轴或壳体变形大以及安装对中性差的问题,所以选用调心滚子轴承,因为调心磙子轴承主要承受径向载荷,也可同时承受少量的双轴向载荷,而圆锥磙子轴承有打的锥角可承受大的径、轴向联合载荷。所以选用(双列向心)圆锥磙子轴承,有双内圈,并是可分离的轴承,根据d=80mm,由参考资料2P7356 表7278 带紧定套的调心滚子轴承(GB/T288-1994),选用22218CK/W33+H318轴承,其基本额定载荷为=240KN,=322KN, 根据轴承选用配套的轴承座,参考资料2P7-43表7-2-105 适用圆锥孔的异径孔滚动轴承座(GB/T7813-1998) SNK型轴承座,可选用SNK316型的轴承座。4 主要零部件的强度校核 4.1 传动轴强度的校核 轴的强度计算一般可分为三种:1)按扭转强度或刚度计算;2)按弯扭合成强度计算;3)精确强度校核计算。 当轴的支撑位置和轴所受的载荷大小、方向、作用点及载荷种类均已确定,支撑反力及弯矩可求得时,可按照弯曲或者弯扭合成强度进行轴的强度计算。作用在轴上的载荷一般按集中载荷考虑,如本设计中的带传动对轴的力,其作用点取在轮缘宽度的中点。计算时,通常把轴当作置于铰链支座上的双支点梁,一般轴的支点近似取为轴承宽度中点。由于本设计所用轴主要是受弯曲强度,很少的扭转强度,是根据扭转强度设计,应校核轴的弯曲强度,首先分析轴的受力,左端受的是圆锥筛的重力,右端是带轮对轴的力,中间是轴承座的两个支撑力。左端的作用力包括筛自身的重力、物料的重力、物料旋转产生的离心力。所以考虑圆锥筛对轴产生作用力时,仅是一个经验数据。在这里,假设圆锥筛为实心,对轴的作用力取其重力的。 密度是=7.38/,锥筛大端直径为D=,小端直径是d=360,H=1140,h=510,所以锥筛的体积即0.2;所以,筛的重力约为 轴径是按扭转强度初步设计的,所以要校核轴的弯曲强度,轴的强度校核也就是找出危险截面,看危险截面是否满足轴径条件,如果危险截面满 足,那么别的轴径肯定满足;根据轴的实际尺寸,承受的弯矩、扭矩图考虑应力集中,表面状态,尺寸影响等因素,及轴材料的疲劳极限,计算危险截面的情况是否满足条件。我所校核的轴是根据许用弯曲应力校核的,即由弯矩产生的弯曲应力不超过许用弯曲应力,一般计算顺序是先画出轴的空间受力图,将轴上作用力分解为水平面受力图和垂直面受力图,并求出水平面上和垂直面上的支承点反作用力。然后作出水平面上的弯矩和垂直面上的弯矩图,作出合成弯矩图和转矩图应用公式绘出当量弯矩图,式中是根据转矩性质而定的应力校正系数。对于不变的转矩,取;对于脉动的转矩,取;对于对称循环的转矩取。是材料在对称循环应力状态下的许用弯曲应力;是材料在静应力状态下的许用弯曲应力;是材料在脉动循环应力状态下的许用弯曲应力;在锥筛的设计过程中,轴的材料为45#钢,其基本参数为,;应满足 下列条件: 或 W为轴的抗弯截面系数;轴的受力,轴左端是锥筛对轴的力也就是锥筛的重力,右端是带轮对轴的压力。具体受力情况如下图:由材料力学的相关知识可得: 解得: 由 得: 可得轴的弯矩图则如下: 轴所受的转矩如下:转矩图如下:=;所以,=所以当量弯矩图为:可知轴承的危险截面在左边轴承支撑处,根据轴的校核条件可以算出:;即: 所以:根据校核,截面强度足够,其它截面也是足够安全的。4.2 轴承强度的校核计算 轴承的选用在以上的说明中已经给出,选用的是带紧定套的滚子轴承,型号为22218CK/W33+H318,其基本参数为主要是额定载荷:C=240000N, =322000N,e=0.23,Y=2.5,,假定轴承的寿命为3年,每天工作10小时,一年工作300天,所以轴承的基本额定动载荷可按一下公式进行计算: C=其中:C基本额定动载荷计算值,N; P当量动载荷,按式计算,为轴承所受径向载荷,轴向动载荷,X为径向动载荷系数,Y为轴向动载荷系数; 寿命因数,按表7-2-8选取; 速度因数,按表7-2-9选取; 力矩载荷因数,力矩较小时=1.5,力矩较大时=2; 冲击载荷因数,按表7-2-10选取; 温度系数,按表7-2-11选取;轴承尺寸及性能表中所列基本额定动载荷;由表查得=1.19,=0.366,=1.5,=1.2(中等冲击),=;1.0;因为轴向载荷=0,即,所以当量动载荷即, ,所以此轴承选的合适,能满足要求。结论在最近的一段时间的毕业设计,使我们充分把握的设计方法和步骤,不仅复习所学的知识,而且还获得新的经验与启示,在各种软件的使用找到的资料或图纸设计,会遇到不清楚的作业,老师和学生都能给予及时的指导,确保设计进度,本文所设计的是大型四边形滚动机器人的设计和研究,通过初期的定题,查资料和开始正式做毕设,让我系统地了解到了所学知识的重要性,从而让我更加深刻地体会到做一门学问不易,需要不断钻研,不断进取才可能做的好,总之,本设计完成了老师和同学的帮助下,在大学研究的最感谢帮助过我的老师和同学,是大家的帮助才使我的论文得以通过。致 谢 直到今天,论文总算完成了,我的心里感到特别高兴和激动,在这里,我打心里向我的导师和同学们表示衷心的感谢!因为有了老师的谆谆教导,才让我学到了很多知识和做人的道理,由衷地感谢我亲爱的老师,您不仅在学术上对我精心指导,在生活上面也给予我无微不至的关怀支持和理解,在我的生命中给予的灵感,所以我才能顺利地完成大学阶段的学业,也学到了很多有用的知识,同时我的生活中的也有了一个明确的目标。知道想要什么,不再是过去的那个爱玩的我了。导师严谨的治学态度,创新的学术风格,认真负责,无私奉献,宽容豁达的教学态度都是我们应该学习和提倡的。通过近半年的设计计算,查找各类大型四边形滚动机器人的相关资料,论文终于完成了,我感到非常兴奋和高兴。虽然它是不完美的,是不是最好的,但在我心中,它是我最珍惜的,因为我是怎么想的,这是我付出的汗水获得的成果,是我在大学四年的知识和反映。四年的学习和生活,不仅丰富了我的知识,而且锻炼了我的个人能力,更重要的是来自老师和同学的潜移默化让我学到很多有用的知识,在这里,谢谢老师以及所有关心我和帮助我的人,谢谢大家。 参考文献1 张华 机械设备设计 北京:科学出版社,2004.52 李念 大型四边形滚动机器人概述 北京:机械工业出版社,2005.13 张栋 大型四边形滚动机器人的创新设计.高等教育出版社,2004.34 姜继海,宋锦春,高常识. 大型四边形滚动机器人工作原理.高等教育出版社,2002.85 张春林,曲继方,张美麟.机械创新设计.机械工业出版社,2001.46 钱平. 加工专机应用技术 机械工业出版社,2005.17 张辽远. 大型四边形滚动机器人的设计与实现. 机械工业出版社,2002.88 基恩士传感器选择手册 2010版本9 黄长艺,严普强.机械工程测试技术基础. 机械工业出版社,2001.110 张桓,陈作模.机械原理.高等教育出版社,2000.811 王昆,何小柏,汪信远. 大型四边形滚动机器人原理.高等教育出版社,1995.1212 徐锦康.机械设计. 高等教育出版社,2004.413 邓星钟.机电传动控制.华中科技大学出版社,2001.314 刘延俊.液压与气压传动.机械工业出版社,2002.1215 章宏甲,黄谊,王积伟. 大型四边形滚动机器人的逆向设计.机械工业出版社,2000.516 胡泓,姚伯威.机电一体化原理及应用. 北京:国防工业出版社,2000.617 陈铁鸣 大型四边形滚动机器人的创新. 高等教育出版社,2003.718 孙靖民.机械优化设计. 机械工业出版社,2005.119 黄俊.系统分析与设计.北京:清华大学出版社,1991.720Hirohiko Arai, Kazuo Tanie, and Susumu Tachi. Dynamic Control of a Manipulator with Passive Joints in Operational Space附录 一Mechanical design theory research and discussion The machine design is through designs the new product or improves the old product to meet the human need the application technical science. It involves the project technology each domain, mainly studies the product the size, the shape and the detailed structure basic idea, but also must study the product the personnel which in aspect the and so on manufacture, sale and use question.Carries on each kind of machine design work to be usually called designs the personnel or machine design engineer. The machine design is a creative work. Project engineer not only must have the creativity in the work, but also must in aspect and so on mechanical drawing, kinematics, engineerig material, materials mechanics and machine manufacture technology has the deep elementary knowledge.If front sues, the machine design goal is the production can meet the human need the product. The invention, the discovery and technical knowledge itself certainly not necessarily can bring the advantage to the humanity, only has when they are applied can produce on the product the benefit. Thus, should realize to carries on before the design in a specific product, must first determine whether the people do need this kind of product Must regard as the machine design is the machine design personnel carries on using creative ability the product design, the system analysis and a formulation product manufacture technology good opportunity. Grasps the project ANSYS software design and knowledge to have to memorize some data and the formula is more important than. The merely service data and the formula is insufficient to the completely decision which makes in a good design needs. On the other hand, should be earnest precisely carries on all operations. For example, even if places wrong a decimal point position, also can cause the correct design to turn wrongly A good design personnel should dare to propose the new idea, moreover is willing to undertake the certain risk, when the new method is not suitable, use original method. Therefore, designs the personnel to have to have to have the patience, because spends the time and the endeavor certainly cannot guarantee brings successfully. A brand-new design, the request screen abandons obsoletely many, knows very well the method for the people. Because many person of conservativeness, does this certainly is not an easy matter. A mechanical designer should unceasingly explore the improvement existing product the method, should earnestly choose originally, the process confirmation principle of design in this process, with has not unified it after the confirmation new idea. Newly designs itself can have the question occurrence which many flaws and has not been able to expect, only has after these flaws and the question are solved, can manifest new goods come into the market the product superiority. Therefore, a performance superior product is born at the same time, also is following a higher risk. Should emphasize, if designs itself does not request to use the brand-new method, is not unnecessary merely for the goal which transform to use the new method. In the design preliminary stage, should allow to design the personnel fully to display the creativity, not each kind of restraint. Even if has had many impractical ideas, also can in the design early time, namely in front of the plan blueprint is corrected. Only then, only then does not send to stops up the innovation the mentality. Usually, must propose several sets of design proposals, then perform the comparison. Has the possibility very much in the plan which finally designated, has used certain not in plan some ideas which accepts. How does the psychologist frequently discuss causes the machine which the people adapts them to operate. Designs personnels basic responsibility is diligently causes the machine to adapt the people. This certainly is not an easy work, because certainly does not have to all people to say in fact all is the most superior operating area and the operating process. Another important question, project engineer must be able to carry on the exchange and the consultation with other concerned personnel. In the initial stage, designs the personnel to have to carry on the exchange and the consultation on the preliminary design with the administrative personnel, and is approved. This generally is through the oral discussion, the schematic diagram and the writing material carries on. In order to carry on the effective exchange, needs to solve the following problem: (1) designs whether this product truly does need for the people? Whether there is competitive ability (2) does this product compare with other companies existing similar products? (3) produces this kind of product is whether economical? (4) product service is whether convenient? (5) product whether there is sale? Whether may gain? Only has the time to be able to produce the correct answer to above question. But, the product design, the manufacture and the sale only can in carry on to the above question preliminary affirmation answer foundation in. Project engineer also should through the detail drawing and the assembly drawing, carries on the consultation together with the branch of manufacture to the finally design proposal Usually, can have some problem in the manufacture process. Possibly can request to some components size or the common difference makes some changes, causes the components the production to change easily. But, in the project change must have to pass through designs the personnel to authorize, guaranteed cannot damage the product the function. Sometimes, when in front of product assembly or in the packing foreign shipment experiment only then discovers in the design some kind of flaw. These instances exactly showed the design is a dynamic process. Always has a better method to complete the design work, designs the personnel to be supposed unceasingly diligently, seeks these better method. Recent year, the engineerig material choice already appeared importantly. In addition, the choice process should be to the material continuously the unceasing again appraisal process. The new material unceasingly appears, but some original materials can obtain the quantity possibly can reduce. The environmental pollution, material recycling aspect and so on use, workers health and security frequently can attach the new limiting condition to the choice of material. In order to reduce the weight or saves the energy, possibly can request the use different material. Comes from domestic and international competition, to product service maintenance convenience request enhancement and customers aspect the and so on feedback pressure, can urge the people to carry on to the material reappraises. Because the material does not select when created the product responsibility lawsuit, has already had the profound influence. In addition, the material and between the material processing interdependence is already known by the people clearly. Therefore, in order to can and guarantees the quality in the reasonable cost under the premise to obtain satisfaction the result, project engineer makes engineers all to have earnestly carefully to choose, the determination and the use material. Makes any product the first step of work all is designs. Designs usually may divide into several explicit stages: (a) preliminary design; (b) functional design; (c) production design. In the preliminary design stage, the designer emphatically considered the product should have function. Usually must conceive and consider several plans, then decided this kind of thought is whether feasible; If is feasible, then should makes the further improvement to or several plans. In this stage, the question which only must consider about the choice of material is: Whether has the performance to conform to the request material to be possible to supply the choice; If no, whether has a bigger assurance all permits in the cost and the time in the limit develops one kind of new material. In the functional design and the engineering design stage, needs to make a practical feasible design. Must draw up the quite complete blueprint in this stage, chooses and determines each kind of components the material. Usually must make the prototype or the working model, and carries on the experiment to it, the appraisal product function, the reliability, the outward appearance and the service maintenance and so on. Although this kind of experiment possibly can indicate, enters in the product to the production base in front of, should replace certain materials, but, absolutely cannot this point take not earnestly chooses the material the excuse. Should unify the product the function, earnestly carefully considers the product the outward appearance, the cost and the reliability. Has the achievement very much the company when manufacture all prototypes, selects the material should the material which uses with its production in be same, and uses the similar manufacture technology as far as possible. Like this has the advantage very much to the company. The function complete prototype if cannot act according to the anticipated sales volume economically to make, or is prototypical and the official production installment has in the quality and the reliable aspect is very greatly different, then this kind of prototype does not have the great value. Project engineer is best can completely complete the material in this stage the analysis, the choice and the determination work, but is not remains it to the production design stage does. Because, is carries on in the production design stage material replacement by other people, these people are inferior to project engineer to the product all functions understanding. In the production design stage, is should completely determine with the material related main question the material, causes them to adapt with the existing equipment, can use the existing equipment economically to carry on the processing, moreover the material quantity can quite be easy to guarantee the supply. In the manufacture process, inevitably can appear to uses the material to make some changes the situation. The experience indicated that, may use certain cheap materials to take the substitute. However, in the majority situation, in will carry on the production later to change the material to have in to start before the production to change the price which the material will spend to have to be higher than. Completes the choice of material work in the design stage, may avoid the most such situations. Started after the production manufacture to appear has been possible to supply the use the new material is replaces the material the most common reason. Certainly, these new materials possibly reduce the cost, the improvement product performance. But, must carry on the earnest appraisal to the new material, guarantees its all performance all to answer the purpose. Must remember that, the new material performance and the reliable very few pictures materials on hand such understood for the people. The majority of products expiration and the product accident caused by negligence case is because in selects the new material to take in front of substitution material, not truly understood their long-term operational performance causes.Pneumatic manipulator is a automated devices that can mimic the human hand and arm movements to do something,aslo can according to a fixed procedure to moving objects or control tools. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic energy sectors.Along with change with each passing day of science and technology, the high-speed tool machine of gears gets the favor of the molding tool manufactories increasingly, the high speed slice the essence for pare be the knife have of run about of length walk in the in a short time over, because of the good characteristic of its oneself, can with significantly the exaltation process the efficiency, thus can lower the production cost. he high-speed gears process the turn of center and can amount to the 40000 r/ min soon, the local usage is more currently, sex price has the German DMG production the high-speed machine more and goodly. But the usage of the high-speed machine exists a lot of problems currently, first is to weave the distance, a lot of plaits distance the personnel usually feel vacant to frighten into inaction in the high-speed machine in front, dont know how adopt to slice to pare the dosage, currently the gears plait distance of most molding tool factories the personnel are all in the factory to grow up with teacher from the apprentice of, they usually have abundant fulfillment experience, but be in need of the theories leading of the system, is experience and fillings towards slicing the understanding of pare the dosage, usually with what to borrow, but these experiences and felling are in the low speed gears tool machine backlog. So, faced the high-speed machine hour to can not find to fragment . Still need to consider the material and degree of hardnesss of process the work pieces the next in order, the material is harder, slicing to pare the dosage to correspond to take the small value. Is also very important with the function that the knife have, because the knife that you choose has to decide you can use of turn soon, come to a decision it is commonness that tool machine process still process the high speed process. So, only chose to use the high-speed knife, then can give a homologous high speed, carry on high speeds process. And a parameter of knife of different company also is a vast difference between the two, so the plait distance personnel needs to process related technique data that knife have. Compared with the common low speed gears tool machine, is certain because of the power of the tool machine, the principal axis become soon and more quick, it can bear of slice and pare dint will more small, at a high speed When the machine process, eat the amount of knife and correspond and want to be small. Only have, process tool machine, knife material, process the property etc. the knot puts together and then can grope for slice to pare the dosage the best, producing the best production efficiency. Aim at this kind of circumstance, can adopt the following after weigh of process the craft This article is mainly of the pneumatic manipulator the overall design, and pneumatic design. This mechanism of manipulator includes cylinders and claws and connectors parts, it can move according to the due track on the movement of grabbing, carrying and unloading. The pneumatic part of the design is primarily to choose the right valves and design a reasonable pneumatic control loop, by controlling and regulating pressure, flow and direction of the compressed air to make it get the necessary strength, speed and changed the direction of movement in the prescribed procedure work. It can replace the heavy labor in order to achieve the production mechanization and automation, and can work in dangerous working environments to protect the personal safety, Therefore widely used in machine building, metallurgy, electronics, light industry and atomic .The principle, technical pare-maters, transmiting system and main parts structure of mincing ma-chine were introduced. The productingcapacity was analysed.Keywords Mincing machine Holds plate Cutting blade Transfer augerThis paper discusses the meat processing machinery - crusher working principle, main technical parameters, transmission system, the typical parts of the structure design and production capacity analysis. The product responsibility lawsuit forces designs the personnel and the company when the choice material, uses the best procedure. In the material process, five most common questions are: (a) did not understand or cannot use about the material application aspect most newly the best information paper; (b) has not been able to foresee and to consider the dusk year possible reasonable use (for example to have the possibility, designs the personnel also to be supposed further to forecast and the consideration because product application method not when creates consequence. In recent years many products responsibilities lawsuit case, because wrongly uses the plaintiff which the product receives the injury to accuse produces the factory, and wins the decision); uses the material data not entire perhaps some data are indefinite, works as its long-term performance data is the like this time in particular; the quality control method is not suitable and not after the confirmation; the personnel which completely is not competent for the post by some chooses the material. Through to the above five questions analysis, may obtain these questions is does not have the sufficient reason existence the conclusion. May for avoid these questions to these questions research analyses the appearance indicating the direction. Although uses the best choice of material method not to be able to avoid having the product responsibility lawsuit, designs the personnel and the industry carries on the choice of material according to the suitable procedure, may greatly reduce the lawsuit the quantity. May see from the above discussion, the choice material people should to the material nature, the characteristic and the processing method have comprehensive and the basic understanding.Because the country is in keeping with currently heavy slice to pare the tool machine a lot of, process the fee also cheap, the knife have also cheap. But the general work piece process to have great capacity, the accuracy request is not high. Owing to this kind of circumstance, can use to imitate the form Miller or numbers to control the Miller to slice the big part to pare the quantity to complete( heavy slice to pare), leave the 2-3 mms to process the amount of remaining, slice the surplus to pare the quantity on board complete quickly in the high-speed gears carvings. Turn into the high speed after slice pare because process the object to have already near to take shape, so the first knife slices to pare the quantity very even, the knife that can adopt to import have, the knife have although expensive, process time short, slice to pare the quantity not big, so the function price ratio is very good. For the small scaled molding tool, process the amount of remaining not big, then can process the mission all to all carve in the gears computer on board complete. We made use of the gears computer the carvings machine that my school by oneself design to carry on the trial well, because of carvings the principal axis of the machine turns to be up to the 40000 r/min soon, can carry on high speeds process availably. Used for a capacity inside the model or convex molds that the high speed processes the complicated molding tool, can adopt the diameter to used for a nose of a blade knife( allow the line speed 380 ms/ min) of the 8-10 mms thick process, use the 6-8 mms of a blade ball knife nicety process.For example, the high speed processes a molding tool of small scaled cellular phone, that spare parts contain many keys and a capacity inside the model of the screen, is a typical model spare parts of much more complicated curved face, the material of the molding tool is the T10 tool steel, the knife have for German tile especially the company takes to draw the layer of R3 double blade ball head knife, the knife has the line speed 200 ms/ min, the principal axis turn soon 1.1-20,000 r/ min, the knife has to eat the knife depth 0.5-0.8 mms, entering to the speed 5 ms/ min, the knife has the amount of partition thick process the 0.5-5 mms, the nicety processes the 0.1-0.2 mms, processing time for total 12 minutes of a hour. A lot of Capes with pure beard process, cant directly the nicety process, can process the copper electrode, using to give or get an electric shock the spark to process to complete. Used for the high speed processes the copper electrode that give or get an electric shock the spark tool machines use, including the graphite electrode and the red copper electrode etc., adopting the homologous knife to have, while processing the equal and complicated type to face of enter and can amount to the 3-8 ms/ min for speed, still have at the same time very high process the accuracy. Process the craft above to raised to process the result and quantities consumedly.机械设计理论研究与探讨机械设计是一门通过设计新产品或者改进老产品来满足人类需求的应用技术科学。它涉及工程技术的各个领域,主要研究产品的尺寸、形状和详细结构的基本构思,还要研究产品在制造、销售和使用等方面的问题。机械工业是国民的装备部,是为国民经济提供装备和为人民生活提供耐用消费品的产业。不论是传统产业,还是新兴产业,都离不开各种各样的机械装备,机械工业所提供装备的性能、质量和成本,对国民经济各部门技术进步和经济效益有很大的和直接的影响。机械工业的规模和技术水平是衡量国家经济实力和科学技术水平的重要标志。因此,世界各国都把发展机械工业作为发展本国经济的战略重点之一。机械工程的服务领域广阔而多面,凡是使用机械、工具,以至能源和材料生产的部门,都需要机械工程的服务。概括说来,现代机械工程有五大
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本文标题:大型四边形滚动机构的滚动与研究毕业设计【含CAD图纸、SW三维】
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