噴漆機(jī)械手設(shè)計(jì)【含Creo三維及6張CAD圖帶開(kāi)題報(bào)告-獨(dú)家】.zip,含Creo三維及6張CAD圖帶開(kāi)題報(bào)告-獨(dú)家,噴漆,機(jī)械手,設(shè)計(jì),Creo,三維,CAD,開(kāi)題,報(bào)告,獨(dú)家 目 錄 1 英文文獻(xiàn)翻譯 1 Development and manufacture of robot arms 1 機(jī)器人手臂的發(fā)展和制造 11 2 專業(yè)閱讀書(shū)目 18 2.1 材料力學(xué) 18 2.2理論力學(xué) 18 2.3工程材料 18 2.4 PLC電氣控制技術(shù) 19 2.5 Creo2.0機(jī)械設(shè)計(jì)教程 19 2.6機(jī)械制造基礎(chǔ) 19 2.7機(jī)械原理 20 2.8機(jī)械設(shè)計(jì) 21 2.9現(xiàn)代工程圖學(xué) 21 2.10互換性與技術(shù)測(cè)量 21 1 英文文獻(xiàn)翻譯 Development and manufacture of robot arms Range is very wide, the definition of a robot to the factory service industrial robots, small that occupy the home cleaning robot according to the current the broadest definition, if something is considered by many as a robot, it is a robot many roboticists (manufacturing) of the robot USES a more precise definition of their rules, the robot should be can reprogram the brain (a computer), is used to move according to this definition, robots and other mobile machines, such as car in their computerMany new cars have an on-board computer, but only use it to make minor adjustments The driver control most of the vehicle directly by all kinds of machinery parts The robot in terms of physical properties with the ordinary computer is different, each connected to a body, and an ordinary computer Most robots do have some common features in the first place, almost all robots have a movable body some have motorized wheels, while others have a lot of moving parts, these parts are typically made of metal or plastic is similar to human body skeleton, the independent components are connected with joint robot wheel and axle is to use some kind of transmission device connected some robots using motor and solenoid as transmission device;Others use hydraulic systems.And some use pneumatic system (driven by compressed gas systems) robot can use any of the above types of gearing metal processing good second, robots need a power source to drive these drive most robots will use battery or wall outlet for power supply in addition, the hydraulic robot also need a pump for the liquid pressure, pneumatic robot requires gas compressor or compressed gas tank All transmission device through wires connected to a circuit, the circuit for power supply, electric motor and spiral coil directly and manipulate electronic valve valve to start the hydraulic system can control the path of the pressure fluid flow within the machine, for example, if a robot to move a driven by hydraulic leg, its controller would open a valve, the valve by the hydraulic pump to the leg will drive the pistons, piston cylinder pressure fluid rotating the legs forward, usually use robots can provide two-way thrust piston, to make the parts can be in both directions activities robot computer can control all the components are connected to the circuitIn order to make the robot move, most computer will open all of the required motor and valve robot can be reprogrammed if you want to change to a robot's behavior, you only need to write a new program into the computer can not all robots have a few robot vision sensing system hearing smell or taste of robot is one of the most common sense movement, namely its ability to monitor their movement in the standard design, the joints of the robot installation with engraved with the wheels of the groove There is a light emitting diode in the side of the wheel, it sends out a light beam through the grooves, according to on on the other side of the wheel, the light sensor When the mobile robot a particular joint, fluted wheel will turn During the process, the groove will block the beam optical sensor read flashing light beam model, and the data can be transmitted to the computer computer according to the model to accurately calculate the joints has been rotating distance used in the basic computer mouse and the same These are an essential part of the robotRobotics experts there are countless ways these elements can be combined, so as to create infinite arm of the complex machinery of the Robot is one of the most common design 2 how robots work in English Robot (Robot) this term comes from the Czech word robota, translation forced laborers usually use it to describe most of the Robot is very apt Robot used mostly in the world is engaged in the heavy repetitive manufacturing work They are responsible for those very difficult for human beings Dangerous or boring task Manufacturing of the most common type of robot is a typical machine machine arm arm consists of seven metal parts, they are connected with six joint computer connected the rotation to each joint of stepper motors, in order to control the robot arm (some large machine use hydraulic or pneumatic system) is different from general motors, stepping motors will incrementally precise mobile making computers can accurately mobile robot arm, repeating the same action make the machine arm robot motion sensor is used to ensure he is in the correct amount of mobileThis with six joint industrial robots and human arm are very similar, it is equivalent to the part of the shoulder to the elbow and wrist it shoulders are normally installed in a fixed base design (instead of moving the body) on this type of robot has six degrees of freedom, that is to say, it can move in six different directions, by contrast, human arm with seven degrees of freedom Most industrial robots in automobile assembly line work, responsible for assembling cars in a large number of such work, the efficiency of the robot is much taller than humans, because they were very accurate No matter how many hours they have been working for, they can still be in the same location hole, with the same strength twist screws manufacturing such robots in the computer industry also plays a very important role They are extremely accurate dab hand a tiny tiny chip can be assembled difficulty of manufacture and programming of the robot arm is relatively low, because they only work in a limited areaIf you want to send robots to broad the outside world, some complicated things become the primary problem is to provide a viable for robot motion system If a robot only needs to move on flat ground, the wheels or track tends to be the best choice If the wheel and rail wide enough, they also apply to a more rugged terrain But the robot's designers often want to use the leg structure, because they are more flexible Manufacturing legged robots can also help researchers understand natural kinematics knowledge, this is a good practice in the field of biological research Leg of the robot is usually in the hydraulic or pneumatic piston driven back and forth motion of the piston connection on different leg parts, like muscles to make different bone adhered to at all the piston can work together in the right way, this is a difficult problem in the infant stage, the brain must figure out which muscles to contract at the same time to make when walking upright will fall by the same token, the robot designer must to find the right combination piston movement related to walk, and this information into the computer for the robotMany mobile robots have a built-in balancing system (such as a set of gyroscopes) that tells computers when to correct their movements Manipulator in almost not replace gradually with The Times of heavy labor to realize mechanization and automation of production, operating in a hazardous environment to protect the personal safety, thus is widely used in metallurgical machinery manufacturing electronic light industry and atomic energy etc The types of manipulator can be divided into hydraulic electric pneumatic manipulator according to the driving mode.According to the applicable scope, it can be divided into two types: special manipulator and general manipulator.According to the motion trajectory control mode can be divided into point control and continuous trajectory control manipulator : 1) according to the control points fixed program manipulator control system is a fixed program controller has a simple process, less application of, and is fixed and adjustable trip but can't be any point positioning 2) according to the drive way points hydraulic transmission manipulator pneumatic manipulator mechanical manipulator (3) according to the characteristics of industrial robots can be divided into the following three categories Manipulator handling work: the operation of the manipulator in the main process equipment, used to complete the secondary operation, such as loading and unloading of the blank workpiece and tooling production: industrial manipulator can be used to complete the process of the main operation, such as assembly welding coating bending to cut off the general industrial manipulator: its wide range of USES, can complete all kinds of process operation (4) according to the function classification dedicated manipulator: it is attached to the host has a fixed program without independent control system of mechanical deviceSingle dedicated manipulator has less action, work objects, structure is simple, practical, reliable and low cost, suitable for large quantities of a large number of automated production, such as automatic machine, automatic line of the manipulator and the processing center affiliated to automatically change the knife manipulator General manipulator: also known as the industrial robot it is a kind of independent control system of mechanical device with variable working range positioning program features high precision and strong versatility, is suitable for the changing of varieties of medium and small batch production of automation 24 Manipulator can imitate human arm some action function, fixed program to grab the moving or operating tool automatic operation of the device Manipulator is the first industrial robots, is also the first modern robot, it can be hard work instead of human to realize mechanization and automation of production, operating in a hazardous environment to protect the personal safety, the manipulator can achieve human arm of a series of actions, an advanced industrial manipulator is the first, its function is to replace people to do heavy work, instead of human in dangerous environment for homework, employees only need in the security control center operating machine to finish the homework First spray painting robot in our country, in the industrial spraying robot PG 1990-1 s have a spraying robot is how strong, reflects the wisdom of the Chinese people, the result of the industrial development of wisdom, but at that time the technology is still in its infancy, the manipulator can still no artificial painting effect is good, can't replace artificial and due to the time cost of the efficiency and quality of machine hand and no artificial cheap, plus domestic cheap labor force, lead to this kind of machine is not widely used, research and development and progress is slowTherefore, the application and technology of paint spraying manipulator were relatively slow compared with other industries As time goes on, the sharing of information, technology transfer, the topic of artificial intelligence is now the focus of technology of the manipulator has been flourishing development of microelectronic technology has been developing rapidly, many industries are developed to the direction of intelligent portable, back to the manipulator, under such conditions, the robot technology is mature, there are many control methods, for example, microcontroller, PLC, etc., makes the movement became more anthropomorphic manipulator, and promote new material makes the mechanical arm movement precision of material is lighter, mechanical properties and casting properties have very big?improvement Countries advocate sustainable green development, the concept of people-oriented, development to get a high degree of attention, so the manipulator robot instead of people entering a high-risk environment for a long time operation, embodies the people-oriented concept, the new control system makes the spray-painting manipulator operation several times stronger than human, from saving spray paint spray paint quality on the rolling artificial now cost is high, manipulator appears more economical, more in line with the concept of sustainable development of green environmental protection As is known to all, stepper motor is a kind of motor with low rotor inertia, high positioning precision, small error and simple control. It is one of the main actuators in the field of motion control. PLC as a kind of industrial control computer, with modular structure, flexible configuration, fast processing speed, accurate data processing capabilities, a variety of control functions, the network technology and superior performance, such as performance, is one of the widely used control device. PLC also has good control ability to the stepper motor. With its high speed pulse output function or motion control function, the stepper motor can be controlled. Stepper motor is a need to control electrical pulse signal, and converting electrical pulse signal into the corresponding angular displacement or linear displacement actuator Due to the pulse control, its the amount of angular displacement and speed of the rotor is strictly proportional to input the number of pulses and pulse frequency, by controlling the pulse number to control the amount of angular displacement, so as to achieve the purpose of accurate positioning;The speed and acceleration of motor rotation are controlled by controlling pulse frequency, so as to achieve the purpose of speed regulation.The rotation direction of the motor can be changed by changing the power order Many different kinds of stepping motor, according to the structure can be divided into reactive and three kinds of hybrid stepping motor, permanent magnet indicated by number of phase can be divided into two phase and multiphase three single-phase stepper motor control and drive method are many, according to the use of control unit can be divided into: common integrated circuit control of single chip microcomputer control such as industrial control, PLC control;According to the control structure, it can be divided into: hard pulse generator hard pulse distribution structure soft pulse generator soft pulse distributor structure soft pulse generator hard pulse distributor structure Due to the stepper motor has advantages of no cumulative error tracking performance good, stepper motor control in the majority with open loop control system hardware part by PLC controller drives the control panel and other components of the stepper motor control panel as the human-computer interaction interface, through the communication with PLC, operation monitoring function, can be a traditional button dial key switch operation panel of light meter through hard wiring, can also is a personal computer or a new type of touch screen;The controller PLC sends out the pulse direction signal and controls the running state of the stepper motor through the driver The highest step frequency that the stepper motor can respond without losing step is called starting frequency.Similarly, the stop frequency refers to the system control signal suddenly shut off, stepper motor is not running through the highest step frequency target location and start frequency stop frequency and output torque of the motor and load of the moment of inertia With these data, can effectively to the stepper motor speed control using PLC control of stepping motor, should be based on the computing system of pulse equivalent maximum pulse frequency and pulse number, biggest and selection of PLC and its corresponding function module Mechanical arm choice of materials: materials analysis: axial parts mainly bear at work from repeated torsional force and deformation, and absorb a certain amount of impact load According to the working conditions and failure mode of shaft, and puts forward the following requirements to shaft materials Good comprehensive mechanical properties, to reduce the stress concentration and the notch sensitivity, prevent shaft broke off in the work, need shaft strength and plasticity has the good coordination with the high fatigue strength, prevent fatigue fracture of good wear resistance, prevent journal wear So in order to give attention to both strength and toughness, considering fatigue resistance, axial carbon in the alloy is commonly used in quenched and tempered steel (mainly include 45 steel and 40 cr, 40 MNB) manufacturing in particular, the general principles of the selection below Force is small, not important axis usually choose using ordinary carbon steel bending torsional cyclic loading widely used general axis of medium carbon steel, the quenched and tempered treatment or normalizing demand journal place such as wear resistance, can be partial surface hardening At the same time carry axial load and bending load and alternating load, under a certain impact of axle at the same time, we can choose the alloy quenched and tempered steel, such as the common material of 40 cr, 40 MB, such as steel, the quenched and tempered and surface hardening carry heavier alternating load, impact load and strong friction shaft, can choose low alloy carburizing steel, such as cr, 20 20 CRMNVB such as steel, and after carburizing and quenching temperingMore important, if our shaft position and carry heavier alternating load and impact load, we can steel surface nitriding, craft route is first conditioning treatment after nitriding If our axis is subjected to alternating torque load, but the impact is small, and good wear resistance, the material we can use nodular cast iron, for large low speed shaft we can use cast steel 機(jī)器人手臂的發(fā)展和制造 機(jī)器人的定義范圍很廣，大到工廠服務(wù)的工業(yè)機(jī)器人，小到居家打掃機(jī)器人。按照目前最寬泛的定義，如果某樣?xùn)|西被許多人認(rèn)為是機(jī)器人，那么它就是機(jī)器人。許多機(jī)器人專家（制造機(jī)器人的人）使用的是一種更為精確的定義。他們規(guī)定，機(jī)器人應(yīng)具有可重新編程的大腦（一臺(tái)計(jì)算機(jī)），用來(lái)移動(dòng)身體。 根據(jù)這一定義，機(jī)器人與其他可移動(dòng)的機(jī)器（如汽車）的不同之處在于它們的計(jì)算機(jī)要素。許多新型汽車都有一臺(tái)車載計(jì)算機(jī)，但只是用它來(lái)做微小的調(diào)整。駕駛員通過(guò)各種機(jī)械裝置直接控制車輛的大多數(shù)部件。而機(jī)器人在物理特性方面與普通的計(jì)算機(jī)不同，它們各自連接著一個(gè)身體，而普通的計(jì)算機(jī)則不然。 大多數(shù)機(jī)器人確實(shí)擁有一些共同的特性 首先，幾乎所有機(jī)器人都有一個(gè)可以移動(dòng)的身體。有些擁有的只是機(jī)動(dòng)化的輪子，而有些則擁有大量可移動(dòng)的部件，這些部件一般是由金屬或塑料制成的。與人體骨骼類似，這些獨(dú)立的部件是用關(guān)節(jié)連接起來(lái)的。 機(jī)器人的輪與軸是用某種傳動(dòng)裝置連接起來(lái)的。有些機(jī)器人使用馬達(dá)和螺線管作為傳動(dòng)裝置；另一些則使用液壓系統(tǒng)；還有一些使用氣動(dòng)系統(tǒng)（由壓縮氣體驅(qū)動(dòng)的系統(tǒng)）。機(jī)器人可以使用上述任何類型的傳動(dòng)裝置。金屬加工真不錯(cuò)。 其次，機(jī)器人需要一個(gè)能量源來(lái)驅(qū)動(dòng)這些傳動(dòng)裝置。大多數(shù)機(jī)器人會(huì)使用電池或墻上的電源插座來(lái)供電。此外，液壓機(jī)器人還需要一個(gè)泵來(lái)為液體加壓，而氣動(dòng)機(jī)器人則需要?dú)怏w壓縮機(jī)或壓縮氣罐。 所有傳動(dòng)裝置都通過(guò)導(dǎo)線與一塊電路相連。該電路直接為電動(dòng)馬達(dá)和螺線圈供電，并操縱電子閥門來(lái)啟動(dòng)液壓系統(tǒng)。閥門可以控制承壓流體在機(jī)器內(nèi)流動(dòng)的路徑。比如說(shuō)，如果機(jī)器人要移動(dòng)一只由液壓驅(qū)動(dòng)的腿，它的控制器會(huì)打開(kāi)一只閥門，這只閥門由液壓泵通向腿上的活塞筒。承壓流體將推動(dòng)活塞，使腿部向前旋轉(zhuǎn)。通常，機(jī)器人使用可提供雙向推力的活塞，以使部件能向兩個(gè)方向活動(dòng)。 機(jī)器人的計(jì)算機(jī)可以控制與電路相連的所有部件。為了使機(jī)器人動(dòng)起來(lái)，計(jì)算機(jī)會(huì)打開(kāi)所有需要的馬達(dá)和閥門。大多數(shù)機(jī)器人是可重新編程的。如果要改變某部機(jī)器人的行為，您只需將一個(gè)新的程序?qū)懭胨挠?jì)算機(jī)即可。 并非所有的機(jī)器人都有傳感系統(tǒng)。很少有機(jī)器人具有視覺(jué)、聽(tīng)覺(jué)、嗅覺(jué)或味覺(jué)。機(jī)器人擁有的最常見(jiàn)的一種感覺(jué)是運(yùn)動(dòng)感，也就是它監(jiān)控自身運(yùn)動(dòng)的能力。在標(biāo)準(zhǔn)設(shè)計(jì)中，機(jī)器人的關(guān)節(jié)處安裝著刻有凹槽的輪子。 在輪子的一側(cè)有一個(gè)發(fā)光二極管，它發(fā)出一道光束，穿過(guò)凹槽，照在位于輪子另一側(cè)的光傳感器上。當(dāng)機(jī)器人移動(dòng)某個(gè)特定的關(guān)節(jié)時(shí)，有凹槽的輪子會(huì)轉(zhuǎn)動(dòng)。在此過(guò)程中，凹槽將擋住光束。光學(xué)傳感器讀取光束閃動(dòng)的模式，并將數(shù)據(jù)傳送給計(jì)算機(jī)。計(jì)算機(jī)可以根據(jù)這一模式準(zhǔn)確地計(jì)算出關(guān)節(jié)已經(jīng)旋轉(zhuǎn)的距離。計(jì)算機(jī)鼠標(biāo)中使用的基本系統(tǒng)與此相同。 以上這些是機(jī)器人的基本組成部分。機(jī)器人專家有無(wú)數(shù)種方法可以將這些元素組合起來(lái)，從而制造出無(wú)限復(fù)雜的機(jī)器人。機(jī)器臂是最常見(jiàn)的設(shè)計(jì)之一。 2?機(jī)器人是如何工作的 英語(yǔ)里“機(jī)器人”(Robot)這個(gè)術(shù)語(yǔ)來(lái)自于捷克語(yǔ)單詞robota，通常譯作“強(qiáng)制勞動(dòng)者”。用它來(lái)描述大多數(shù)機(jī)器人是十分貼切的。世界上的機(jī)器人大多用來(lái)從事繁重的重復(fù)性制造工作。它們負(fù)責(zé)那些對(duì)人類來(lái)說(shuō)非常困難、危險(xiǎn)或枯燥的任務(wù)。 最常見(jiàn)的制造類機(jī)器人是機(jī)器臂。一部典型的機(jī)器臂由七個(gè)金屬部件構(gòu)成，它們是用六個(gè)關(guān)節(jié)接起來(lái)的。計(jì)算機(jī)將旋轉(zhuǎn)與每個(gè)關(guān)節(jié)分別相連的步進(jìn)式馬達(dá)，以便控制機(jī)器人（某些大型機(jī)器臂使用液壓或氣動(dòng)系統(tǒng)）。與普通馬達(dá)不同，步進(jìn)式馬達(dá)會(huì)以增量方式精確移動(dòng)。這使計(jì)算機(jī)可以精確地移動(dòng)機(jī)器臂，使機(jī)器臂不斷重復(fù)完全相同的動(dòng)作。機(jī)器人利用運(yùn)動(dòng)傳感器來(lái)確保自己完全按正確的量移動(dòng)。 這種帶有六個(gè)關(guān)節(jié)的工業(yè)機(jī)器人與人類的手臂極為相似，它具有相當(dāng)于肩膀、肘部和腕部的部位。它的“肩膀”通常安裝在一個(gè)固定的基座結(jié)構(gòu)（而不是移動(dòng)的身體）上。這種類型的機(jī)器人有六個(gè)自由度，也就是說(shuō)，它能向六個(gè)不同的方向轉(zhuǎn)動(dòng)。與之相比，人的手臂有七個(gè)自由度。 大多數(shù)工業(yè)機(jī)器人在汽車裝配線上工作，負(fù)責(zé)組裝汽車。在進(jìn)行大量的此類工作時(shí)，機(jī)器人的效率比人類高得多，因?yàn)樗鼈兎浅＞_。無(wú)論它們已經(jīng)工作了多少小時(shí)，它們?nèi)阅茉谙嗤奈恢勉@孔，用相同的力度擰螺釘。制造類機(jī)器人在計(jì)算機(jī)產(chǎn)業(yè)中也發(fā)揮著十分重要的作用。它們無(wú)比精確的巧手可以將一塊極小的微型芯片組裝起來(lái)。 機(jī)器臂的制造和編程難度相對(duì)較低，因?yàn)樗鼈冎辉谝粋€(gè)有限的區(qū)域內(nèi)工作。如果您要把機(jī)器人送到廣闊的外部世界，事情就變得有些復(fù)雜了。 首要的難題是為機(jī)器人提供一個(gè)可行的運(yùn)動(dòng)系統(tǒng)。如果機(jī)器人只需要在平地上移動(dòng)，輪子或軌道往往是最好的選擇。如果輪子和軌道足夠?qū)?，它們還適用于較為崎嶇的地形。但是機(jī)器人的設(shè)計(jì)者往往希望使用腿狀結(jié)構(gòu)，因?yàn)樗鼈兊倪m應(yīng)性更強(qiáng)。制造有腿的機(jī)器人還有助于使研究人員了解自然運(yùn)動(dòng)學(xué)的知識(shí)，這在生物研究領(lǐng)域是有益的實(shí)踐。 機(jī)器人的腿通常是在液壓或氣動(dòng)活塞的驅(qū)動(dòng)下前后移動(dòng)的。各個(gè)活塞連接在不同的腿部部件上，就像不同骨骼上附著的肌肉。若要使所有這些活塞都能以正確的方式協(xié)同工作，這無(wú)疑是一個(gè)難題。在嬰兒階段，人的大腦必須弄清哪些肌肉需要同時(shí)收縮才能使得在直立行走時(shí)不致摔倒。 同理，機(jī)器人的設(shè)計(jì)師必須弄清與行走有關(guān)的正確活塞運(yùn)動(dòng)組合，并將這一信息編入機(jī)器人的計(jì)算機(jī)中。許多移動(dòng)型機(jī)器人都有一個(gè)內(nèi)置平衡系統(tǒng)（如一組陀螺儀），該系統(tǒng)會(huì)告訴計(jì)算機(jī)何時(shí)需要校正機(jī)器人的動(dòng)作。 機(jī)械手在隨著時(shí)代的近不逐漸代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在有害環(huán)境下操作以保護(hù)人身安全，因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門。 機(jī)械手的種類，按驅(qū)動(dòng)方式可分為液壓式、電動(dòng)式、氣動(dòng)式、機(jī)械式機(jī)械手；按適用范圍可分為專用機(jī)械手和通用機(jī)械手兩種；按運(yùn)動(dòng)軌跡控制方式可分為點(diǎn)位控制和連續(xù)軌跡控制機(jī)械手等。 1）按控制方式分 固定程序機(jī)械手：控制系統(tǒng)是一個(gè)固定程序的控制器。程序簡(jiǎn)單，程序數(shù)少，而且是固定的，行程可調(diào)但不能任意點(diǎn)定位。 ? ? ?? 2）按驅(qū)動(dòng)方式分 液壓傳動(dòng)機(jī)械手 氣