封焊机的自动上料机构设计论文[带图纸].doc -- 45 元

本科毕业设计论文题目封焊机的自动上料机构设计系别机电信息系专业机械设计制造及其自动化班级学生学号指导教师2013年04月I封焊机的自动上料机构设计摘要本文通过对机械手的组成和分类，及国内外的发展状况的了解，进行了总体方案设计，确定了机械手用四自由度和圆柱坐标型式。本机械手为上料机械手，为使其通用性加强，故同时设计了机械手的夹持式手部结构和吸附式手部结构，可以更换使用。计算出了手腕转动时所需的驱动力矩和回转汽缸的驱动力矩，确定了相关尺寸，设计了机械手的腕部结构设计了机械手的手臂结结构设计了手臂伸缩，升降用液压缓冲器和手臂回转用液压缓冲器。关键词上料机械手气缸IISealWeldingMachineAutomaticFeedingMechanismDesignAbstractInthispaper,thecompositionandclassificationoftherobot,andthedevelopmentofdomesticandinternationalunderstandingofthestatus,theoveralldesign,therobotwithfourdegreesoffreedomandcylindricalcoordinatestype.Therobotfeedingrobot,toitsversatilitystrengthen,whilethedesignoftherobotholdinghandsstructureandadsorptionhandstructure,youcanreplacetheuseof.Calculatethetorquerequiredtodrivetherotationofthewristandthedrivetorqueoftherotarycylinder,withahydraulicbufferidentifiedbyrelativesize,thedesignoftheroboticwriststructuredesignoftheroboticarmjunctionstructuredesignofthetelescopicarmliftingTherotaryarmwithhydraulicshockabsorber.Keywordsfeedingrobotcylinder.manipulator目录1绪论.........................................................................................................................11.1工业机械手概述.................................................................................................11.1.1工业机器人的发展趋势...............................................................................21.2机械手的组成和分类.........................................................................................31.2.1机械手的组成................................................................................................31.2.2机械手的分类...............................................................................................52机械手的设计方案.............................................................................................72.1机械手的坐标型式与自由度...........................................................................72.2机械手的手部结构方案设计..........................................................................72.3机械手的手腕结构方案设计..........................................................................72.4机械手的手臂结构方案设计..........................................................................82.5机械手的驱动方案设计..................................................................................82.6机械手的控制方案设计..................................................................................82.7机械手的主要参数..........................................................................................82.8.机械手的技术参数列表...................................................................................93手部结构设计.....................................................................................................113.1夹持式手部结构................................................................................................113.1.1手指的形状和分类......................................................................................113.1.2设计时考虑的几个问题..............................................................................113.1.3手部夹紧气缸的设计..................................................................................124手腕结构设计.....................................................................................................164.1手腕的自由度...................................................................................................164.2手腕的驱动力矩的计算...................................................................................164.2.1手腕转动时所需的驱动力矩......................................................................164.2.2回转气缸的驱动力矩计算..........................................................................195手臂伸缩、升降、回转气缸的尺寸设计与校核...................................215.1手臂伸缩气缸的尺寸设计与校核....................................................................215.1.1手臂伸缩气缸的尺寸设计.........................................................................215.1.2尺寸校核.....................................................................................................215.1.3.导向装置......................................................................................................225.1.4平衡装置.....................................................................................................225.2手臂升降气缸的尺寸设计与校核....................................................................225.2.1尺寸设计.....................................................................................................225.2.2尺寸校核.....................................................................................................235.3手臂回转气缸的尺寸设计与校核...................................................................245.3.1尺寸设计.....................................................................................................245.3.2尺寸校核.....................................................................................................246结论.......................................................................................................................26参考文献...................................................................................................................27致谢.....................................................................................................................28