摘 要
機械手是模仿著人手的部分動作,按給定程序、軌跡實現(xiàn)自動抓取、搬運和操作的自動機械裝置。在工業(yè)生產(chǎn)中應(yīng)用的機械手被稱為“工業(yè)機械手”。本次設(shè)計的60噸沖床上料機械手根據(jù)規(guī)定的動作順序,完成對機械手的設(shè)計,對機械手的工作原理,結(jié)構(gòu)使用范圍,特點參數(shù)選擇等方面進(jìn)行了闡述。此60噸沖床上料機械手主要是給沖床進(jìn)行上料和從儲料框中取料;機械手的抓重1Kg;1個自由度三個具體動作,自由度為腰座的轉(zhuǎn)動,采用圓柱坐標(biāo);其余兩個動作為機械手的升降和伸縮,采用螺母和螺栓調(diào)節(jié),可根據(jù)生產(chǎn)的需要改變機械手手臂的高度和長度以及更換吸盤?;剞D(zhuǎn)角度:60度;送料頻率:50-60次/分;驅(qū)動方式為氣壓傳動;機械手的腰座回轉(zhuǎn)采用氣缸帶動齒條齒輪驅(qū)動;本設(shè)計主要對手部進(jìn)行了設(shè)計和計算,腰座回轉(zhuǎn)采用回轉(zhuǎn)氣缸。
關(guān)鍵詞:上料機械手;沖床上料;氣壓傳動
Design for the punch manipulator
Abstract
Manipulator is imitate the part of the hand, according to the given program, track and for automatic mechanical device to realize the acquirement, handling and operation of the. The manipulator used in the industrial production is called "industrial manipulator". 60 tons punch the design of the manipulator according to the provisions of the action sequence, complete the design of manipulator, the working principle of the manipulator, the use range structure, gives the characteristic parameters. This 60 tons punch manipulator is mainly to press for feeding and from the material storage box material; mechanical hand catch weight 1Kg; 1 degrees of freedom three specific actions, degrees of freedom for rotation waist seat, using cylindrical coordinates; the remaining two of the mechanical hand movements and the expansion, the nut and bolt adjustment, according to production needs to change the mechanical arm height and length and replacing chuck. Because the rotary angle: 60 degrees; the feeding frequency: 50-60 times / points; drive mode for pneumatic drive; waist seat rotary manipulator cylinder is used to drive a rack gear drive; the design of the main part of the design and calculation, waist, rotating the rotary cylinder.
KeyWords:feeding manipulator;punch feeding;pneumatic transmission
目 錄
1 緒論 1
1.1 機械手簡介 1
1.2 機械手發(fā)展現(xiàn)狀及應(yīng)用 1
1.2.1國內(nèi)外發(fā)展現(xiàn)狀 1
1.2.2機械手的應(yīng)用 4
2 機械手的總體設(shè)計 7
2.1 機械手的總體結(jié)構(gòu) 7
2.1.1 機械手組成 7
2.1.2 機械手坐標(biāo)形式的確定 9
2.1.3上料機械手的組成及工作原理 9
2.2 機械手腰座結(jié)構(gòu)的設(shè)計 11
2.1.1 機械手的驅(qū)動系統(tǒng)的確定 12
2.1.2 機械手的機械傳動機構(gòu)的確定 15
2.3 機械手手臂的結(jié)構(gòu)設(shè)計 18
2.4 機械手手部的結(jié)構(gòu)設(shè)計 19
3 機械手理論分析和設(shè)計計算 21
3.1 系統(tǒng)設(shè)計計算 21
3.1.1 確定氣壓系統(tǒng)基本方案 21
3.1.2 氣壓缸的總機械載荷的計算 22
3.1.3 氣缸強度的計算及校核 23
3.1.4 計算和選擇氣缸元件 25
3.2 吸盤的選擇和計算 25
總 結(jié) 29
參考文獻(xiàn) 30
致 謝 31
畢業(yè)設(shè)計(論文)知識產(chǎn)權(quán)聲明 32
畢業(yè)設(shè)計(論文)獨創(chuàng)性聲明 33