漢譯英 本設(shè)計通過對機械設(shè)計制造及其自動化專業(yè)大學(xué)本科四年的所學(xué)知識進行整合，完成一個特定功能、特殊要求的數(shù)控機床上下料機械手的設(shè)計，能夠比較好地體現(xiàn)機械設(shè)計制造及其自動化專業(yè)畢業(yè)生的理論研究水平，實踐動手能力以及專業(yè)精神和態(tài)度，具有較強的針對性和明確的實施目標，能夠?qū)崿F(xiàn)理論和實踐的有機結(jié)合。 因為本設(shè)計要求搬運的加工工件的質(zhì)量達30KG，且長度達500MM，同時考慮到數(shù)控機床布局的具體形式及對機械手的具體要求，考慮在滿足系統(tǒng)工藝要求的前提下，盡量簡化結(jié)構(gòu)，以減小成本、提高可靠度。該機械手在工作中需要3種運動,其中手臂的伸縮和立柱升降為兩個直線運動,另一個為手臂的回轉(zhuǎn)運動,綜合考慮，機械手自由度數(shù)目取為3，坐標形式選擇圓柱坐標形式，即一個轉(zhuǎn)動自由度兩個移動自由度，其特點是:結(jié)構(gòu)比較簡單,手臂運動范圍大,且有較高的定位準確度。 腰座回轉(zhuǎn)的驅(qū)動形式要么是電機通過減速機構(gòu)來實現(xiàn)，要么是通過擺動液壓缸或液壓馬達來實現(xiàn)，目前的趨勢是用前者。因為電動方式控制的精度能夠很高，而且結(jié)構(gòu)緊湊，不用設(shè)計另外的液壓系統(tǒng)及其輔助元件?？紤]到腰座是機器人的第一個回轉(zhuǎn)關(guān)節(jié)，對機械手的最終精度影響大，故采用電機驅(qū)動來實現(xiàn)腰部的回轉(zhuǎn)運動。一般電機都不能直接驅(qū)動，考慮到轉(zhuǎn)速以及扭矩的具體要求，采用大傳動比的齒輪傳動系統(tǒng)進行減速和扭矩的放大。因為齒輪傳動存在著齒側(cè)間隙，影響傳動精度，故采用一級齒輪傳動，采用大的傳動比（大于100），同時為了減小機械手的整體結(jié)構(gòu)，齒輪采用高強度、高硬度的材料，高精度加工制造，盡量減小因齒輪傳動造成的誤差。 機械手的垂直手臂（大臂）升降和水平手臂（小臂）的伸縮運動都為直線運動。直線運動的實現(xiàn)一般是氣動傳動，液壓傳動以及電動機驅(qū)動滾珠絲杠來實現(xiàn)?？紤]到搬運工件的重量較大，考慮加工工件的質(zhì)量達30KG，屬中型重量，同時考慮到機械手的動態(tài)性能及運動的穩(wěn)定性，安全性，對手臂的剛度有較高的要求。綜合考慮，兩手臂的驅(qū)動均選擇液壓驅(qū)動方式，通過液壓缸的直接驅(qū)動，液壓缸既是驅(qū)動元件，又是執(zhí)行運動件，不用再設(shè)計另外的執(zhí)行件了；而且液壓缸實現(xiàn)直線運動，控制簡單，易于實現(xiàn)計算機的控制。 因為液壓系統(tǒng)能提供很大的驅(qū)動力，因此在驅(qū)動力和結(jié)構(gòu)的強度都是比較容易實現(xiàn)的，關(guān)鍵是機械手運動的穩(wěn)定性和剛度的滿足。因此手臂液壓缸的設(shè)計原則是缸的直徑取得大一點（在整體結(jié)構(gòu)允許的情況下），再進行強度的較核。 同時，因為控制和具體工作的要求，機械手的手臂的結(jié)構(gòu)不能太大，若僅僅通過增大液壓缸的缸徑來增大剛度，是不能滿足系統(tǒng)剛度要求的。因此，在設(shè)計時另外增設(shè)了導(dǎo)桿機構(gòu)，小臂增設(shè)了兩個導(dǎo)桿，與活塞桿一起構(gòu)成等邊三角形的截面形式，盡量增加其剛度；大臂增設(shè)了四個導(dǎo)桿，成正四邊形布置，為減小質(zhì)量，各個導(dǎo)桿均采用空心結(jié)構(gòu)。通過增設(shè)導(dǎo)桿，能顯著提高機械手的運動剛度和穩(wěn)定性，比較好的解決了結(jié)構(gòu)、穩(wěn)定性的問題。 通過對數(shù)控機床上下料作業(yè)的具體分析，考慮數(shù)控機床加工的具體形式及對機械手上下料作業(yè)時的具體要求，在滿足系統(tǒng)工藝要求的前提下提高安全和可靠性，為使機械手的結(jié)構(gòu)盡量簡單，降低控制的難度，本設(shè)計手腕不增加自由度，實踐證明這是完全能滿足作業(yè)要求的，3個自由度來實現(xiàn)機床的上下料完全足夠。 本設(shè)計采用連桿杠桿式的手爪。驅(qū)動活塞往復(fù)移動，通過活塞桿端部齒條，中間齒條及扇形齒條使手指張開或閉合。手指的最小開度由加工工件的直徑來調(diào)定。本設(shè)計按照工件的直徑為50mm來設(shè)計。 因為選用了液壓缸作為機械手的水平手臂和垂直手臂，由于液壓缸實現(xiàn)直接驅(qū)動，它既是關(guān)節(jié)機構(gòu)，又是動力元件。故不需要中間傳動機構(gòu)，這既簡化了結(jié)構(gòu)，同時又提高了精度。而機械手腰部的回轉(zhuǎn)運動采用步進電機驅(qū)動，必須采用傳動機構(gòu)來減速和增大扭矩。經(jīng)分析比較，選擇圓柱齒輪傳動，為了保證比較高的精度，盡量減小因齒輪傳動造成的誤差；同時大大增大扭矩，同時較大的降低電機轉(zhuǎn)速，以使機械手的運動平穩(wěn)，動態(tài)性能好。這里只采用一級齒輪傳動，采用大的傳動比（大于100），齒輪采用高強度、高硬度的材料，高精度加工制造。 在分析了具體工作要求后，綜合考慮各個因素。機械手腰部的旋轉(zhuǎn)運動需要一定的定位控制精度，故采用步進電機驅(qū)動來實現(xiàn)；因為采用液壓執(zhí)行缸來做水平手臂和垂直手臂，故大小臂均采用液壓驅(qū)動；同時考慮隨著機床加工的工件的不同，水平手臂伸出長度是不同的。因此，要求水平手臂具有伺服定位能力，故采用電液伺服液壓缸進行驅(qū)動。 而手爪的張開和夾緊通過液壓柱塞缸活塞與中間齒輪和扇形齒輪配合來實現(xiàn)，即手爪在柱塞缸推力作用下通過活塞桿端部齒條、中間齒輪及扇形齒輪使手指張開和閉合。 因為本設(shè)計機械手采用圓柱坐標型的結(jié)構(gòu)，而且在手臂的結(jié)構(gòu)設(shè)計以及整個機械手的設(shè)計和布局中都重點考慮了機械手手臂的平衡問題，通過合理布局，優(yōu)化設(shè)計結(jié)構(gòu)，使得手臂本身盡可能達到平衡。若實際工作中平衡結(jié)果不滿足，則設(shè)置彈簧平衡機構(gòu)進行平衡。 Through the design and automation machinery design and manufacture of professional four-year college to integrate the knowledge to complete a specific function, the special requirements of the NC machine tool manipulator up and down the design of materials that can better reflect the design and manufacture of machinery and automation Theoretical Study on the professional level of graduates, the practice of practical ability and professional spirit and attitude, a strong and clear implementation of targeted objectives, theory and practice to realize the organic integration. Because the design requirements for handling the processing of the quality of the workpiece 30KG, and length of 500MM, CNC machine tools at the same time taking into account the exact form and layout of the specific requirements of manipulator, considering the technological requirements to meet the system under the premise of the structure as simple as possible in order to reduce costs and improve reliability. The robot in the three kinds of work need to exercise, in which the telescopic arm and the post take-off and landing for the two linear motion, and the other for the rotating arm movements, taken together, taking the number of degrees of freedom manipulator 3, the form of choice of coordinates the form of cylindrical coordinates, that is, rotational degrees of freedom of a two degree of freedom movement, which is characterized by: a relatively simple structure, wide range of arm movement and positioning of high accuracy. Driver seat lumbar rotary motor through the form of either body to slow down the achievement, or by oscillating hydraulic cylinders or hydraulic motors to achieve, the current trend is to use the former. Because the electric control to a very high accuracy and compact structure, not the design of other hydraulic system and its auxiliary components. Taking into account the back seat is the first robot rotary joints, on the ultimate precision manipulator impact, so the use of motor drives to achieve the waist of the Rotary movement. General Motors can not be directly driven, speed and torque, taking into account the specific requirements of large transmission ratio of the gear drive system for speed and torque amplification. Because there is a gear tooth gap, the impact of driving accuracy, so the use of a gear drive, using a large transmission ratio (greater than 100), at the same time in order to reduce the overall structure of manipulator, gear using high-strength, high hardness of the material, high-precision manufacturing to minimize gear due to errors. Vertical manipulator arm (the arm) and levels of arm movements (arm) for movement of the telescopic linear motion. The realization of the general linear motion drive is pneumatic, hydraulic and motor-driven ball screw drive to achieve. Porters, taking into account the weight of larger pieces, considering the quality of the workpiece 30KG, to be medium weight, taking into account the robot dynamic performance and sporting the stability, security, on the arm of a higher stiffness. Considered, the two arms of the driver choose to hydraulic drive through a direct drive hydraulic cylinder, hydraulic cylinder is a driver component, but also the implementation of moving parts, no need to design the implementation of other parts of the; and hydraulic cylinders to achieve a straight line movement, control is simple, easy to implement computer control. Because the hydraulic system can provide a great driving force, and therefore the driving force and structure of the intensity are relatively easy to achieve, the key is the stability of robot movement and rigidity of the meet. Therefore the design of hydraulic cylinder arm principle is the cylinder made larger in diameter (in the overall structure of permitting), further than the nuclear strength. At the same time, because the control and the specific work requirements of the robot arm structure is not too great, if only by increasing the cylinder bore to increase the stiffness, the stiffness can not meet the system requirements. Therefore, in the design of the guide the creation of additional agencies, the addition of the two arm guide rod, and piston rod together constitute an equilateral triangle cross-section of the form, as far as possible to increase its stiffness; additional four large arm guide, arranged into a square , in order to reduce the quality of each guide are hollow structure. Through the addition of lead shot, can significantly increase the stiffness of robot movement and stability, a better solution of the structure, stability problems. CNC machine tools up and down through the specific analysis of materials, CNC machining to consider the specific form and cutting the hands of the mechanical operation of the specific requirements of technology in meeting the requirements of the system to improve safety and reliability, in order for the structure of manipulator as simple as possible to reduce the difficulty of control, the design does not increase the degree of freedom wrist, in practice show that it is fully able to meet operational requirements, and three degrees of freedom to the whole machine is expected to achieve fully adequate. The design of the gripper rod leveraged. Reciprocating piston-driven movement, through the rod tip rack, the middle rack and the fan-shaped rack so that the fingers open or closed. Fingers from the smallest opening to the diameter of workpiece is set. The design in accordance with the workpiece to a diameter of 50mm design. Because the hydraulic cylinder was chosen as the level of robot arm and vertical arm, as a result of direct drive hydraulic cylinder, it is a joint body, but also dynamic components. It does not need the middle of transmission, which not only simplified the structure, while at the same time improve the precision. The waist of the rotary robot movement using stepper motor driven drive mechanism must be used to increase speed and torque. Analysis of comparison, the choice of cylindrical gear drive, in order to ensure higher accuracy, due to gear to minimize errors; the same time, greatly increased torque, while a larger decrease in motor speed, so that smooth movement of the manipulator, the dynamic performance好. Here only one gear, the transmission ratio of large (greater than 100), gear for high strength, high hardness materials, high-precision manufacturing. After analyzing the specific job requirements, the various factors considered. Manipulator rotation waist take some control over positioning accuracy, so the use of stepper motor drive to achieve; because of the hydraulic cylinder to do the level of implementation of the arms and the vertical arm, the arms are the size of the hydraulic drive; taking as machining the workpiece is different from the level of extending the length of the arm is different. Therefore, the requirements with the servo arm positioning capability, it is carried out using electro-hydraulic servo-driven hydraulic cylinder. And hand through the open and clamping hydraulic cylinder piston and the intermediate plunger, and fan gear with the gear to achieve, namely, hand thrust in the role of plunger-cylinder piston rod end through the rack, the middle gear and fan gear so fingers open and closed. Because of the design using cylindrical coordinate manipulator-type structure, but also in the structural design of the arm and the robot design and layout of the key points of consideration are the manipulator arm of the balance, through the rational distribution and optimize the design of the structure, making the arm itself, as far as possible to achieve a balance . If the results of actual work are not satisfied with the balance, the body set up to balance the spring balance. 7