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抓料机小臂及抓爪部分设计【7张图纸】

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抓料机小臂及抓爪部分设计

21页 7500字数+说明书+外文翻译+7张CAD图纸【详情如下】

传动原理图.dwg

外文翻译--目前的传动系概念.doc

工作空间图.dwg

抓料机小臂及抓爪部分设计说明书.doc

机构简图.dwg

装配图.dwg

零件图-轴.dwg

零件图-轴承端盖.dwg

零件图-齿轮轴.dwg


抓料机小臂设计

摘要1

Abstract2

前 沿2

绪 论4

第一章 抓料机总体设计5

1.1 主要技术参数见表1-16

第2章 手指设计7

2.1 设计时要注意的问题7

2.2  零件的计算8

2.3 紧力的计算:8

第3章 移动关节的设计计算10

3.1驱动方式的比较10

3.2汽缸的设计10

第4章 小臂的设计12

4.1 设计时注意的问题12

4.2 小臂结构的设计12

4.3 轴的设计计算13

4.4 轴承的选择14

4.5 轴承摩擦力矩的计算:15

4.6 驱动选择15

第5章 大臂的设计计算16

5.1 结构的设计16

5.2  轴的设计计算17

5.3轴承的选择17

5.4 轴承摩擦力矩的计算18

5.5 伺服系统的选择19

第6章 机身的设计20

鸣 谢21

参考文献21


摘要

   抓料机小臂采用两个回转关节和一个移动关节;两个回转关节控制前后左右运动,而移动关节则实现上下运动,其工作空间如工作空间图,它的纵截面为矩形的回转体,纵截面高为移动关节的行程长,两回转关节转角的大小决定回转体截面的大小、形状。

关键词: 抓料机 轴承 汽缸Abstract

Selective Compliance Assembly Robot Arm have two slew joints and one move joints , two slew joints control the moving of the front and back left and right . the move joints control the moving of up and down . the work room as work room drawing . the vertical section is a rectangle slew . the high of the vertical section is move joints’ journey ,the move angle of the two slew joints decide the big and small and figure of the vertical section .

Key words: manipulator axletree cylinder

   抓料机是一种模仿人手部分动作,按照预先设定的程序,轨迹或其他要求,实现抓取、搬运工件或操作工具的自动化装置。它在二十世纪五十年代就已用于生产,是在自动上下料机构的基础上发展起来的一种机械装置,开始主要用来实现自动上下料和搬运工件,完成单机自动化和生产线自动化,随着应用范围的不段扩大,现在用来夹持工具和完成一定的作业。实践证明它可以代替人手的繁重劳动,减轻工人的劳动强度,改善劳动条件,提高劳动生产率。

   平面关节型机器人又称SCARA型装配机器人,是Selective Compliance Assembly Robot Arm的缩写,意思是具有选择柔顺性的装配机器人手臂。在水平方向有柔顺性,在垂直方向有较大的刚性。它结构简单,动作灵活,多用于装配作业中,特别适合小规格零件的插接装配,如在电子工业零件的插接、装配中应用广泛。

   总体设计的任务:包括进行抓料机的运动设计,确定主要工作参数,选择驱动系统和电控系统,整体结构设计,最后绘出方案草图。


1.1 主要技术参数见表1-1


表1-1

抓料机类型平面关节型

抓取重量2.2Kg

自由度3个(2个回转1个移动)

大臂长700mm,回转运动,回转角240,步进电机驱动 单片机控制

小臂长600mm,回转运动,回转角240,步进电机驱动 单片机控制

移动关节气缸驱动 行程开关控制

手指气缸驱动 行程开关控制

第2章 手指设计

抓料机的手部是用来抓持工件或工具的部件。手部抓持工件的迅速、准确和牢靠程度都将直接影响到抓料机的工作性能,它是抓料机的关键部件之一。

2.1 设计时要注意的问题

(1) 手指应有足够的夹紧力,为使手指牢靠的夹紧工件,除考虑夹持工件的重力外,还应考虑工件在传送过程中的动载荷。

(2) 手指应有一定的开闭范围。其大小不仅与工件的尺寸有关,而且应注意手部接近工件的运动路线及其方位的影响。

(3) 应能保证工件在手指内准确定位。

(4) 结构尽量紧凑重量轻,以利于腕部和臂部的结构设计。

(5) 根据应用条件考虑通用性。

内容简介:
翻译Current driveline concepts1. Engine developmentsGasoline and Diesel engines are the dominant drive units of today. Hybrid concepts and fuel cells have so far only conquered market niches or have not yet developed beyond the design stage.New injection technologies, such as pump nozzle and common rail, are now common for Diesel engines. This resulted in significant fuel savings and improved driving dynamics due to raised torque and performance.Presently, multi-point injection is the dominant method for gas engine concepts. Increasingly stringent emission laws, the requirements of the European Parliament and the voluntary commitment of the European automobile industry to reduce the average CO2 emission of newly registered passenger cars by 25% by the year 2008 compared to the year 1995, will require significant reductions in fleet consumption and emissions within the next few years. this will result in a diversification of drive concepts for gas engines .DI versions will share the market with displacementreduced, supercharged engines , electromechanical and mechanical valve-gear systems and their combinations .The future-oriented concepts of complete de-throttling of the gas engine by means of charge stratification or volumetric efficiency control and shifting of the load cycle into the efficiency-optimal range of the engine graph will decisively contribute to the technology of the gas engine in the coming decades .Downsizing and supercharging will significantly raise specific maximum engine torque levels in the next few years.2. Transmission types The Manual Transmission/MT and the Automatic Transmission/AT are the transmissions presently firmly established in the market . For some years the market has seen the appearance of the Automated Manual Transmission/AMT and the Continuously Variable Transmission/CVT, whose shares in the market are still very small.Manual transmissions are cheap , of relatively small size ,and their spur gears provide good efficiency , Consumption largely depends on the drivers shifting style and the vehicle concept.The comfort of an automatic transmission is approached through automated shifting and cluthing . More gears snd the concomitant enhanced spacing also increase comfort . High efficiency ,favorable weight and low cost are factors that ate retained.Traction interruption , associated with automated shifting and regarded as impairing comfort , will be reduced in future AMTs by an optimized gearshift process . The powershifting double-clutch transmission with two separate transmission input shafts is part of this development . Gears are preselected in the load-free section of the transmission ,gear steps ate changed under full load through controlled trolled torque transfer from the first to the second clutch.Ats have undergone a continuous development process in recent years an have become even more comfortable ,lighter and economical . New gear set comfortable , lighter and economical .New gear set concepts and more gear steps will continue this trend . Their very high level of comfort ,how ever , is associated with a complex design and a relatively high weight and limited efficiency .Comfortable shifting with the CVT is principlerelated . Acceleration ideally follows the traction hyperbola , The initial engine speed increase fllowed by comtinuos transmission ratio variation , how ever ,is new .There is a delay between the initiation of acceleration and the following response . The hydraulically produced frictional connection in the variator , which transfers the torque to the output ,suggests increased consumption . Wide spacing , however ,lowers this for vehicles with manual transmissions.3. Starting componentsToday ,there basic concepts are available for shifting and starting :. the dry clutch ;. the wet clutch ;. the torque converter;The dry clutch is known for . its very good efficiency;. its good controllability;. its drag torque free feature:. its relatively small mass moment of inertia . The very good efficiency of the normally-closed dry clutch is due to the absence of auxiliary power .Other solutions always need pressure and thus additional power in the bridged or closed condition .Wet clutch advantage are :. little mass ;. very small mass moment of inertia;. very good controllability;. high power density and great torque capacity.The wet clutch is therefore optimally suited for vehicles with small installation space and very high torque levels.Due to its function as a hydrodynamic hydraulic transmission ,the torque converter with or without slip-controlled lockup clutch and torsionalvibration damper offers . efficiency advantages in the non-bridged condition and . and a torque translated by the hydraulic transmission as well as. over load protection 目前的传动系概念1 发动机的发展汽油和柴油发动机是目前主要的驱动元件,混合驱动和燃料电池仍处于设计开发阶段尚未占领市场。新型的喷射技术,如共轨泵喷射,通常被应用于柴油发动机。它大幅度降低了油耗并由于提高了发动机的转矩和性能改善了动态传动特性。目前多点直接喷射广泛应用于汽油发动机。为了满足苛刻的排放法规,欧洲议会和欧洲汽车工业协会要求在 2008年将新注册的轿车的 CO2排放量在 1995年水平上降低 25%,这需要在近几年内明显降低车辆的能耗和排放,这导致了汽油发动机用传动系的多样化。直接喷射系统将通过减少排量,发动机增压、机电一体化或机械式阀门配气机构系统及他们的组合占领部分市场。采用分层进气或容积效率控制的汽油机多气门技术和是发动机工作在高效率区的负荷循环换挡概念将是全分离节气门汽油发动机今后几十年的两大主要技术。小型化和发动机增压技术在未来几年内将明显提高发动机最大转矩的水平。2 变速器类型手动变速器(MT)和自动变速器(AT)是目前变速器市场的主要产品,几年前市场上开始出现机械自动变速器(AMT)和无级变速器(CVT) ,但它们仅占有极小的市场份额。手动变速器便宜,体积较小、并且圆柱齿轮组的效率很高,能耗主要取决于驾驶员的换挡技术和车辆形式。自动变速器的舒适性体现在自动换挡和离合器的自动工作上,教多的挡位及相应增加的间距也改善了舒适性,效率高、重量合适和成本底是该类变速器生存的要点。换挡时存在的牵引力中断现象对舒适性有影响,将来的 AMT
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