工业机械手.rar

资料分类:机械工程 上传会员:笑笑 更新时间:2014-07-21
需要金币1000 个金币 资料包括:完整论文 下载论文
转换比率:金额 X 10=金币数量, 例100元=1000金币 论文字数:15904
折扣与优惠:团购最低可5折优惠 - 了解详情 论文格式:Word格式(*.doc)

摘 要:本文所设计的工业机械手用于搬运工件,工件总重30Kg,长50cm,宽30cm,高20cm,臂总长为1.8m。为了增加本机械手的通用性,在结构尽可能紧凑的情况下,最大限度地使工业机械手具有较大的抓取范围。

   本文主要介绍了工业机械手的概念、组成和分类,机械手的自由度和坐标形式、运动及国内外的发展状况。对工业机械手进行总体方案设计,首先确定了机械手的坐标形式为圆柱坐标型,自由度数为5,接着确定了机械手的驱动装置为液压缸,然后确定了机械手的主要技术参数。同时,设计了机械手的手部结构形式为滑槽杠杆式钳爪、手腕的结构形式为采用电机带动腕回转、臂部结构形式采用双导向杆导向,机身结构形式为升降缸置于回转缸之上的结构形式,计算出了夹紧工件所需的驱动力、手腕转动时所需的驱动力矩、手臂伸缩所需的驱动力、手臂俯仰所需的驱动力、手臂升降所需的驱动力和手臂回转所需的驱动力矩。继而设计了工业机械手的各个部分液压缸的尺寸和结构及各个部分之间连接与支承部件的结构与尺寸。

关键词:工业机械手,液压驱动,液压缸

 

ABSTRACT:The design of the industrial robot used for carrying workpieces, workpiece, gross weight, wide 30Kg 30cm long centimeters high, chief of 1.8 20cm m. In order to increase the generality of the manipulator, as far as possible in the structure is compact, under the situation of utmost ground to industrial robots have larger grab range.

  This design of introduces the concept of industrial robots, composition and classification of the manipulator, freedom and coordinates, sports and the development at home and abroad. For industrial robots are overall design of manipulator, the first identified for cylindrical coordinates coordinates type, free degree, then determined for five of the manipulator device drivers for the hydraulic cylinder, then determines the main technical parameters of the robot. At the same time, the design of manipulator hand structure sliding channel for leveraged plier, wrist motor driven by structure form for turning wrist, arm adopts double guide bar structure form, the structure and form to turn over in the cylinder cylinder structure form, calculated the clamping workpiece, the driving force for the wrist curls driving torque arm, the driving force for expansion, the force required arms pitch, arm movements of the arms and driving force for driving torque required rotation. Then the design of industrial robots each part of hydraulic cylinder size and structure and connection between the parts and components of supporting structure and size.

Keywords: industrial robots, hydraulic drive, hydraulic cylinder.

相关论文资料:
最新评论
上传会员 笑笑 对本文的描述:在国内主要是逐步扩大应用范围,重点发展铸造、热处理方面的机械手,以减轻劳动强度,改善作业条件,在应用专用机械手的同时,相应的发展通用机械手,有条件的还要研制示教式......
发表评论 (我们特别支持正能量传递,您的参与就是我们最好的动力)
注册会员后发表精彩评论奖励积分,积分可以换金币,用于下载需要金币的原创资料。
您的昵称: 验证码: