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基于缝纫机针自动抛光机械手设计【优秀含20张CAD图纸+全套机械手毕业设计】

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10端盖.dwg

11固定架.dwg

12转轴.dwg

13轴.dwg

14轴连接件.dwg

15手臂底座.dwg

16左右螺旋轴.dwg

17机械手指.dwg

18肩关节.dwg

19肘关节.dwg

1支撑件.dwg

20装配图.dwg

2箱体.dwg

3连接件.dwg

4机身.dwg

5带轴车轮.dwg

6车轮.dwg

7齿轮1.dwg

8齿轮2.dwg

9电机壳.dwg

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关键词：: 基于缝纫机自动抛光机械手设计优秀优良 20 cad 图纸全套毕业设计

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10端盖.dwg

11固定架.dwg

12转轴.dwg

13轴.dwg

14轴连接件.dwg

15手臂底座.dwg

16左右螺旋轴.dwg

17机械手指.dwg

18肩关节.dwg

19肘关节.dwg

1支撑件.dwg

20装配图.dwg

2箱体.dwg

3连接件.dwg

4机身.dwg

5带轴车轮.dwg

6车轮.dwg

7齿轮1.dwg

8齿轮2.dwg

9电机壳.dwg

中文翻译).doc

基于缝纫机针自动抛光机械手设计.doc

工作总结文档 (2).doc

工作计划文档.doc

开题报告.doc

文献综述.doc

自选题目申请表.doc

英文原文).doc

摘要I

AbstractII

第一章绪论1

1.1机械手的简介与概况1

1.2机械手的组成与分类1

1.3 机械手的应用意义及参数5

1.4机械手应用简况6

第二章关于缝纫机针自动抛光机械手的设计计算11

2.1一级减速器减速比及转矩的折算的计算11

2.2 齿轮的材料选择，及其传动失效形式的计算11

2.3 滚动轴承使用寿命的计算13

2.4 螺栓组受力分析15

2.5轴的设计与计算16

第三章缝纫机针抛光机械手工作原理及电机的选择19

3.1抛光自动线组成及工作原理19

3.2机械手的步进电机驱动及手部动作方式20

3.3进电机的选择24

第四章缝纫机针抛光机械手电路的控制及程序设计26

4.1步进电机内部芯片的介绍26

4.2细分电路的选择及原因27

4.3 关于选用3713各引脚及功能和DA0808的图例27

4.4步进电机的程序控制30

第五章缝纫机针抛光机械手气动装置的选择36

5.1 气动机构简图36

5.2手臂俯仰运动汽缸的设计选择36

5.3手臂回转运动汽缸的设计选择37

第六章结论39

致谢40

参考文献41

摘要

随着工业突飞猛进的发展，机械手扮演着越来越重要的角色。机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置。机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。

本文主要研究机械手的手指夹持缝纫机针，在即旋转有往复移动的抛轮上进行上下摆动，根据抛光工艺过程，各机械手间互相传递着缝纫机针、调换缝纫机针的大小头，并进行精、精抛光等操作。机械部分是在力学计算的基础上经过结构分析进行设计，包括手部、手腕、手臂、送料装置以及机身等；气压系统的设计包括气压系统的计算、气压元件的选用、多种规格接头的设计和加工以及气压系统的安装调试。

关键词：机械手，计算，自动化，机械装置

Abstract

With the scientific and technological progress, cars have become the mainstream of the contemporary world, the invention of cars to bring mankind great convenience, the car handling, comfort has also been gradually improving, and the mantransmission has been gradually by the automatic transmission Replaced. Automatic transmission can be repeated for the acceleration, deceleration, speed transmission, anotherfunctions, the speed with smooth, light and other advantages of driving. But with the traditional manual transmission compared, there are complex structures, detection, diagnosis and maintenance of difficult issues, so this common automotive automatic transmission failure study.

This paper studies mechanical hand fingers gripping sewing machine needles and the imminent movement of reciprocating a rotating wheel on the left swinging from op to bottom, according to polishing process, the manipulator of transmission of the ewing machine needle each other, swapped the size of the first sewing machine eedles and a fine, fine Polishing operation. Mechanical parts in the mechanical ulation on the basis of the structure of the design, including the hand, wrist, arm, feeding devices and the fuselage; pressure system design, including air pressure system, pneumatic omponents of the selection, a variety of joint specifications Design and processing system and the installation of air pressure adjustment.

Key words：Machinery hand, calculate, Automation,Mechanical device

参考文献

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[4] 陆祥生.杨秀莲.机械手理论及应用，中国铁道出版社1985 年 3 月第 1 版

[5] 工业机械手编写组.工业机械手（上册）机械机构.上海科学技术出版社，1978

年 12 月

[6] 重庆市科技局.第一机械工业部第三设计院.工业机械手，1977 年 3 月

[7] 工业机械手图册编写组编．工业机械手图册．北京：机械工业出版社．1978

[8] 张舒勃等.专用机床设计与制造，黑龙江人民出版社，1978 年 10 月

[9] 张建民.工业机器人.北京理工大学出版社，1988 年 12 月

[10]焦生杰等.工程机械机电液一体化.人民交通出版社，2000 年 11 月

[11]孙恒等主编，机械原理，高等教育出版社，1999 年 2 月

[12]赵阳，方珠芳.浅谈钻杆加工工艺的改进.浙江树人大学城建学院，浙江工业

大学，2004 年 2 月

[13]傅莉等.钻杆摩擦焊接头组织与性能.西北工业大学，2001 年 2 月

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院，中国科技信息，2006 年第 9 期

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煤矿机械，2005 年第 7 期

[16]张雅琴.机电液一体化机械手设计.长春工程学院机电学院.机械工程与自动

化，2006 年 6 月:第 3 期

[17]李洪忠等.机电液一体化技术在工程机械上的应用研究，山东临沂师范学院工

程学院.山东农机.2004 年第 7 期

[18] 成大先等.机械设计手册.化学工业出版社,1998年 4 月

[19]杨黎明.机械零件设计手册.国防工业出版社

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[21]李芝主编.液压传动.机械工业出版社，2002 年 1 月第 1 版

[22]程啸凡主编.液压传动，冶金工业出版社，1983 年 6 月第 1 版

[23] Harttey J 著，Robok at Work，1983

[24] Kevin M.Passino,Stephen Yurkovich.Fuzzy Control[M].Addision-Wesley.2001

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[26] C.C.Bissell.Control Engineering[M].Chapman & Hall.1994

1支撑件.jpg

2箱体.jpg

3连接件.jpg

4机身.jpg

5带轴车轮.jpg

6车轮.jpg

7齿轮1.jpg

8齿轮2.jpg

9电机壳.jpg

10端盖.jpg

11固定架.jpg

12转轴.jpg

13轴.jpg

14轴连接件.jpg

15手臂底座.jpg

16左右螺旋轴.jpg

17机械手指.jpg

18肩关节.jpg

19肘关节.jpg

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内容简介：: 1 毕业设计外文文献学生姓名：吕晓琳指导教师：刘洋合作指导教师：专业名称：自动化所在学院：职业技术学院 2009年 6月 nts 2 Underground mobile substation remote monitoring software for the development and implementation TANG Chao - li , HUANGYou - rui , LINGLiu - yi (Electric and Information Technology College , Anhui University of Science and Technology , Huainan 232001 , China) Abstract :Designs and realizes a coal mine mobile substations monitoring system based on king view. Through network line under mine , the software carries out examination , demonstration , control , protection , warning and management for the mobile substations entire work course on ground , at the same time. It saves work parameters as well as operators operation information to database. The monitoring system provides fast , accurate , comprehensive information for operators who monitor and maintain the mobile substations , and realizes remote monitoring and automated management goal . Key words ： king view; mobile substation ; remote monitor ; industry control computer 1 Introduction Mobile substation is a Mobile-powered equipment, Used to put coal mine come from the central high-voltage substation can change low-voltage electricity, Mining area to face production machinery drives provide electrical power to mobile device variable distribution. The safe operation of its mining area as a whole face job a necessary condition for reliability. The event of failure, will have serious consequences. Not only affects production, may also be caused by physical accident. Therefore, the implementation of mobile substation Inoue has become really important for long-range real-time monitoring. Because of financial and technical reasons, small and medium-sized mines in China are mostly not equipped with a remote monitoring system, but through strict implementation of mobile inspection system equipment as the main means to safeguard the normal operation of underground substation. This on the one hand, the mobile substation in the underground, where conditions are poor, patrol officers greater labor intensity; On the other hand, at 2 time interval inspections substation is not timely detection of abnormal operation, operating parameters are not given timely adjustment. To this nts 3 end, the R & D based on the mobile substation King view remote monitoring system capable of non-interval to carry out the operation of surveillance equipment, and has a sub-reclosing control, such as over-voltage overload alarm function to enhance the mobile substation to monitor the degree of automation, to protect the safety of underground power supply and safety in production. 2 System Structure The system hardware mainly by Advantest Industrial Computer, network lines, communication, conversion interface, such as the composition of the mobile substation; software mainly by King view software, ACCESS database component. Specifically, according to the functions of the entire monitoring system can be divided into 3-layer architecture, including: the control part of monitoring treatment of the data storage parts. Control part refers to the mobile substation to LG as a single-chip central processing unit, using modular design methods, implementation of the leakage, short circuit, overload, overvoltage protection and many other features, is a relatively comprehensive protection system, and can very easy to achieve local control and remote control functions. 3 basic functions of the modular design system Taking into account the practical requirements, the design of the six basic functions of main modules, the following main modules on its functional analysis: (1) mobile substation monitoring function Monitoring is the normal operation of mobile substation display monitor screen. May indicate that high (low) pressure side of real-time voltage, current, power, power factor and other parameters of size; can display running status and transformer substation switch gear status. At the same time, the button can be achieved through the high (low) pressure side of the reset, electric sub-gate, the electric switch, short circuit tests, load tests, such as control operations. (2) self-test function of the mobile substation nts 4 Refers to the system are on self-test after the electric system to automatically detect job status, including the setting is correct, whether or not the normal operating voltage, insulation resistance value is normal, short-circuit test and overload test whether the normal function of transformer protection and temperature are normal and so on. (3) Detect module rated parameters Rated parameters of the main Detect completion of the system are rated voltage, rated current and the current level of block detection. Current setting by LG for its single-chip for testing. Detect voltage is mainly used to determine the system over-voltage, under voltage, leakage current value and transformers overheated atresia temperature. Overload protection, short circuit protection are based on current signal as a judge. (4) after the fault detection module Reclosing Reclosing fault detection module after the main power grids are Detect insulation status, current signal, voltage signal, the differential current signal and temperature signals. Reclosing of the power grid after system insulation online status monitoring; Acquisition voltage signal in order to deal with the system are over-voltage and under-voltage breakdown; Detect differential current signal and temperature signal are in order to determine the transformer internal fault, when fault detection to a different system will automatically cut off power supply, at the same time shows the corresponding fault status and parameter values. (5) Record function alarm When the scene of an emergency situation, such as mobile substation had pressure, under-voltage, overload, short circuit failure, the module can realize the voice of alarm, and alarm information transmitted through the configuration interface on LG at the same time have the police records, police Alarm Record, including the date, time, number, status, message text, duration, etc. If the records are one of the yellow that is the fault alarm; red if that is the accident report to the police; if the green that is the fault or incidents have been discharged. (6) data storage function nts 5 Can put the mobile substation monitoring data, alarm recording, and the operator to operate the various information stored in databases in order to preserve historical data and operator access to these data for future analysis of leadership, decision-making. At the same time, voltage, current, power factor and other parameters is also important to real-time trend curves and curves show the historical trend and is conducive to real-time monitoring of on duty personnel. 4Cold Forming line shelves AC servo control system of the basic principles (1) shelf components for the general production process: open-book - the school level - online servo feed punching - forming rolling - straightening - Length cut (or cut off the servo-track) - packaging - post-spray treatment; (2) The units main features: one-time investment costs are relatively high, the largest power AC servo has some restrictions, but low-cost post-operation, especially in the shelf components at a high yield, high-precision products, applications and a wide range of additional value high. 3, automatic feeder and the punching device and the working principle 5Control System Design of a number of major issues （ 1） Input signal control precision: roll circumferential length measuring accuracy and measuring the ratio of final decision on the scope of the production control accuracy, the ratio should be a great choice of products and select the appropriate measurement of roll materials, measurement of roller contact with the cold-formed parts and damping coefficient of elasticity in order to increase the friction coefficient and contact pressure to prevent the measurement error process for selecting the material slide. （ 2） The control accuracy of the output signal: position loop PID control algorithm on the different PID control determines the control precision and the results, such as: solving step reaction method, and control features in accordance with movements in three characteristics: 1), only proportional control; 2), PI control; 3), PID control; and in accordance with the speed of shape, shape determination of the value of differential expression for PID calculations, the accuracy of the implementation of the nts 6 corresponding request of the positive and negative movements and control operations. （ 3） PID tuning system parameters: host computer to send to the PID controller parameters, the parameters to see whether a given control system in line with the requirements of the process of setting the parameters required to achieve online. Parameter tuning of the main task is to determine K (P), A (I), B (D) and sampling period Timer, the ratio of coefficient K (P) increases, so that the action servo drive system is sensitive, in response to speed up, and had caused the General Assembly oscillation to regulate the hours lengthened; integral coefficients A (I) increases, the system can eliminate the steady-state error, but the stability of decline; differential control of B (D) can improve the dynamic characteristics, so that to reduce the overshoot, shorten the adjustment

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