机械手模型设计及制作【含6张CAD图纸和说明书】
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含6张CAD图纸和说明书
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毕业设计（论文）题目： 机械手模型设计及制作 信机 系 机械工程及自动化 专业学 号学生姓名指导教师 4本科毕业设计（论文）诚 信 承 诺 书本人郑重声明：所呈交的毕业设计（论文） 机械手模型设计 是本人在导师的指导下独立进行研究所取得的成果，其内容除了在毕业设计（论文）中特别加以标注引用，表示致谢的内容外，本毕业设计（论文）不包含任何其他个人、集体已发表或撰写的成果作品。 班 级 学 号 作者姓名 信 机系 机械工程及自动化 专业毕 业 设 计论 文 任 务 书一、题目及专题：1、题目 机械手模型设计及制作 2、专题 机械手模型设计 二、课题来源及选题依据 题目来源于教学产品制作。在工业上，机器人是用作运输或操作从前属于人工作业的一种设备，越来越多的日常事务也可以在机器人的协助下完成。教学用机械手模型，虽然不像工业机器人那么复杂，但仍包含很重要的技术成分，例如它能实现空间坐标系三根轴向上的运动。这一特征使通过多种方法控制其运动成为可能，机器人还有“夹钳”这一非常典型的机构。 设计技术参数： 1抓重：10千克 2自由度数：4个自由度 3座标型式：圆柱型座标 4最大工作半径：1000mm 5手臂最大中心高：1380mm 6手臂运动参数：伸缩行程400mm；伸缩速度50mm/s；升降行程200mm；升降速度50mm/s；回转范围00-2400；回转速度900/s7手腕运动参数：回转范围 00-1800；回转速度1800/s 8定位精度：0. 5mm 三、本设计（论文或其他）应达到的要求：收集相关设备资料，进行一种四自由度机械手模型的设计制作；它包括总体结构、机械传动系统和伺服控制系统。该模型具有结构简单、控制灵活、调整方便、性能稳定等特点； 完成机械手模型设计，绘制产品装配图，建议用A0标准图幅； 完成非标准零件设计图纸。建议用A3标准图幅； 设计说明书一份； 翻译8000以上外文印刷字符或译出4000汉字以上的有关技术资料或专业文献。 四、接受任务学生： 五、开始及完成日期：自 六、设计（论文）指导（或顾问）：指导教师签名 签名 签名教研室主任学科组组长研究所所长签名 系主任 签名 年11月12日英文原文Robot hand model design and productionScientific concept of development of engineering technology has opened up a broad road, while the robot as a high-tech automated production equipment, has been widely used in various fields of national economy, which the education and training sector of our proposed new requirements. Therefore, in order to adapt to the situation of social development, based on existing technology to design a teaching type robot science has far-reaching significance.The subject of design for teaching handling robots, mainly consists of robots overall design, robot mechanical structure design, as well as drive, control system design, implementation of the manipulator hands of four degrees of freedom: the arm movements, stretching and wrist, arm, rotary. The design of the teaching function of mechanical hand requirements and practical significance, achieved by pneumatic cylinders push the arm movements and stretching,rotary pneumatic cylinders used to achieve arm and wrist rotation.Manipulator design simple, easy to operate, under the control of the MCU to complete the desired action, giving the students a visual impression, to achieve the purpose of teaching demonstration.Keywords Manipulator Teaching type Four Degrees of Freedom SCM1. An overview of industrial manipulatorMachine hand is a kind of positioning control which can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe and the Unites States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East Chinas coastal areas, localplastic processing plants have also emerged in mechanical watches began to become increasingly interested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of Chinas industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the work piece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention.Machine hand is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing were injures. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the machine hand can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a machine hand to be used in actual production.Why would a machine hand designed to provide a pneumatic power: pneumatic machine hand refers to the compressed air as power source-driven machine hand. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg/per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it flies in the ointment: 1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power cannot be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.2. The composition, mechanical handMachine hand in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the, usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.1. Implementing agenciesManipulator executing agency by the hands, wrists, arm, pillars. Hands are crawling institutions, is used to clamp and release the work piece, and similar to human fingers, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand cannot wrist. Pillars used to support the arm can also be made mobile as needed.2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms.3. Control SystemManipulator control systems main role is to control the machine hand according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use complex programmable machine hand controller, the micro-computer control.3. Mechanical hand classification and characteristicsMachine hands are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the work piece material and delivery. This mechanical hand in foreign countries known as the “Mechanical Hand”, which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special.Main featuresFirst, mechanical hand (the upper and lower material machine hand, assembly machine hand, handling machine hand, stacking machine hand, help machine hand, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer,etc.)Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of machine hand development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of machine hand, allowing machine hand to better achieved with the combination of mechanization and automation.Although the machine hand is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been applied widely, for example: a) Machining the work piece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.b) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry. It can be used to assemble parts and components.c) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.d) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous material removal and so on.e) Universe and ocean development.f) Military engineering and biomedical research and testing.Help mechanical hand: all know as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer applications needs, creating customized cases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws, handling objections or perform household tools to accomplish certain specific actions. Application of machine hand can replace the people engaged in monotonous, repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safely. The late 20th century,40, the United Stated atomic energy experiment, the first use of radioactive material handling machine hand, human machine hand in a safe room to manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material. Machine hand body mainly by the hand and sport institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping, support and adsorption type of care. Movement organs are generally hydraulic pneumatic, electrical device drivers. Manipulator can be achieved indecently retractable, rotation and lifting movements, generally 2 to 3 degrees of freedom. Machine hands are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environment to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the work piece, the replacement of cutting tools in machining centers ,etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans such as the atomic energy sector performs household hazardous material used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sport institutions. Task of hand is holding the work piece (or tool) components, according to grasping objects by shape, size, weight, material and operational requirements of a variety of structural forms, such as clamp type, type and adsorption of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture.Machine hand is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recently years, as electronic technology, especially computer extensive use of machine hand development and product of high-tech fields has become a rapidly developed a new technology, which further promoted the development of machine hand, allowing machine hand to better achieved with the combination of mechanization and automation. Machine hand can replace humans completed the risk of duplications of boring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used. At present, the machine hand has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, Chinas industrial machine hand technology and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of machine hand research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations are very necessary. Therefore, the study of mechanical hand design is meaningful.中文译文机械手模型设计及制作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，这就对我们的教育培训部门提出了新的要求。因此，为了适应社会发展的形势，在现有技术基础上设计一台教学型机械手有着深远的科教意义。本课题设计的教学型搬运机械手，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，实现了机械手手部的四自由度运动：手臂的升降、伸缩和手腕、手臂的回转。设计中分析了教学型机械手的功能要求和现实意义，通过气压缸来实现手臂的升降和伸缩，采用回转气压缸来实现手腕和手臂的回转。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期的动作，能给学生以直观的印象，达到教学演示的目的。1工业机械手的概述机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。在工资水平较低的中国，塑料制品行业尽管仍属于劳动力密集型，机械手的使用已经越来越普及。那些电子和汽车业的欧美跨国公司很早就在它们设在中国的工厂中引进了自动化生产。但现在的变化是那些分布在工业密集的华南/华东沿海地区的中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣,因为他们要面对工人流失率高,以及工人交工伤费带来的挑战。随着我国工业生产的飞跃发展，特别是改革开放以后，自动化程度的迅速提高，实现工件的装卸、转向、输送或操作钎焊、喷枪、扳手等工具进行加工、装配等作业自动化，已越来越引起我们的重视。机械手是模仿着人手的部分动作，按给定的程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。在现实生活中，你是否会发现这样一个问题：在机械工厂里，加工零件装料的时候是不是很麻烦的，劳动生产率不高，生产成本大，有时候还会发生一些人为事故，导致加工者受伤。想想看用什么可以代替呢，加工的时候只要有几个人巡视一下，且可以24小时饱和运作，人行吗？回答是肯定的，但是机械式可以来代替它。生产中应用机械手可以提高生产的自动化水平和劳动生产率；可以减轻劳动强度、保证产品质量、实现安全生产；尤其是在高温、高压、低温、低压、粉尘、易爆、有毒气体和放射性等恶劣的环境中能够代替人进行正常工作。想到这我就很想设计一个机械手用于生产实际当中。为什么选择设计机械手用气动来提供动力：气动机械手是指以压缩空气为动力源驱动的机械手。用气压驱动与其他能源驱动比较有以下有点：1.空气取之不竭，用之果后排入大气，不育要回收和处理，不污染环境。（环保的概念）2.空气的沾性很小，管路中压力损失也小（一般气路阻力损失不到油路的千分之一），便于远距离输送。3.压缩空气的工作压力较低（一般为4-8公斤/每平方厘米），因此对动元件的材质和制造精度要求可以降低。4.与液压传动相比，它的动作和反应都快，这是气动突出的优点之一。5.空气介质清洁，亦不会变质，管路不易堵塞。但是也有它美中不足的地方：1.由于空气的可压缩性，只是气动工作的稳定性差，因而造成执行机构运动速度和定位精度不易控制。2.由于使用气压较低，输出力不可能太大，为了增加输出力，必然使整个气动系统的结构尺寸加大。2机械手的组成机械手的形式是多种多样的，有的较为简单，有的较为复杂，但基本的组成形式是相同的，一般由执行机构、传动系统、控制系统和辅助装置组成。1.执行机构机械手的执行机构，由手、手腕、手臂、支柱组成。手是抓取机构，用来加紧和松开工件，与人的手指相仿，能够完成人手的类似动作。手腕是连接手指与手臂的元件，可以进行上下、左右和回转动作。简单的机械手可以没有手腕。支柱用来支撑手臂，也可以根据与要做成移动。2.传动系统执行机构的动作要由传动系统来实现。常用机械手传动系统分为机械传动、液压传动、气压传动和电力传动等几种形式。3.控制系统机械手控制系统的主要作用是控制机械手按一定的程序、方向、位置、速度进行动作，简单的机械手一般不设置专用的控制系统，只采用行程开关、继电器、控制阀及电路便可以实现传动系统的控制，使执行机构按要求进行动作。动作复杂的机械手则要求采用可编程控制器、微型计算机进行控制。3机械手的分类和特点机械手一般分为三类：第一类是不需要人工操作的通用机械手。它是一种独立的不附属于某一主机的装置。它可以根据任务的需要编制程序，以完成各项规定的操作。它的特点是具备普通机械的性能之外，还具备通用机械、记忆智能的三元机械。第二类是需要人工才做的，成为操作机。它起源于原子、军事工业，先是通过操作机来完成特定的作业，后来发展到用无线电讯号操作机来进行探测月球等。工业中采用的锻造操作机也属于这一范畴。第三类是专用机械手，主要附属于自动机床或自动线上，用以解决
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