封焊機(jī)的自動(dòng)上料機(jī)構(gòu)設(shè)計(jì)論文[帶圖紙].doc

本科畢業(yè)設(shè)計(jì)(論文)題目：封焊機(jī)的自動(dòng)上料機(jī)構(gòu)設(shè)計(jì)系別：機(jī)電信息系專業(yè)：機(jī)械設(shè)計(jì)制造及其自動(dòng)化班級(jí)：學(xué)生：學(xué)號(hào)：指導(dǎo)教師：2013年04月I封焊機(jī)的自動(dòng)上料機(jī)構(gòu)設(shè)計(jì)摘要本文通過對(duì)機(jī)械手的組成和分類，及國(guó)內(nèi)外的發(fā)展?fàn)顩r的了解，進(jìn)行了總體方案設(shè)計(jì)，確定了機(jī)械手用四自由度和圓柱坐標(biāo)型式。本機(jī)械手為上料機(jī)械手，為使其通用性加強(qiáng)，故同時(shí)設(shè)計(jì)了機(jī)械手的夾持式手部結(jié)構(gòu)和吸附式手部結(jié)構(gòu)，可以更換使用。計(jì)算出了手腕轉(zhuǎn)動(dòng)時(shí)所需的驅(qū)動(dòng)力矩和回轉(zhuǎn)汽缸的驅(qū)動(dòng)力矩，確定了相關(guān)尺寸，設(shè)計(jì)了機(jī)械手的腕部結(jié)構(gòu)；設(shè)計(jì)了機(jī)械手的手臂結(jié)結(jié)構(gòu)；設(shè)計(jì)了手臂伸縮，升降用液壓緩沖器和手臂回轉(zhuǎn)用液壓緩沖器。關(guān)鍵詞上料；機(jī)械手；氣缸IISealWeldingMachineAutomaticFeedingMechanismDesignAbstractInthispaper,thecompositionandclassificationoftherobot,andthedevelopmentofdomesticandinternationalunderstandingofthestatus,theoveralldesign,therobotwithfourdegreesoffreedomandcylindricalcoordinatestype.Therobotfeedingrobot,toitsversatilitystrengthen,whilethedesignoftherobotholdinghandsstructureandadsorptionhandstructure,youcanreplacetheuseof.Calculatethetorquerequiredtodrivetherotationofthewristandthedrivetorqueoftherotarycylinder,withahydraulicbufferidentifiedbyrelativesize,thedesignoftheroboticwriststructure；designoftheroboticarmjunctionstructure；designofthetelescopicarmliftingTherotaryarmwithhydraulicshockabsorber.Keywords：feedingrobot；cylinder.；manipulator目錄1緒論.11.1工業(yè)機(jī)械手概述.11.1.1工業(yè)機(jī)器人的發(fā)展趨勢(shì).21.2機(jī)械手的組成和分類.31.2.1機(jī)械手的組成.31.2.2機(jī)械手的分類.52機(jī)械手的設(shè)計(jì)方案.72.1機(jī)械手的坐標(biāo)型式與自由度.72.2機(jī)械手的手部結(jié)構(gòu)方案設(shè)計(jì).72.3機(jī)械手的手腕結(jié)構(gòu)方案設(shè)計(jì).72.4機(jī)械手的手臂結(jié)構(gòu)方案設(shè)計(jì).82.5機(jī)械手的驅(qū)動(dòng)方案設(shè)計(jì).82.6機(jī)械手的控制方案設(shè)計(jì).82.7機(jī)械手的主要參數(shù).82.8.機(jī)械手的技術(shù)參數(shù)列表.93手部結(jié)構(gòu)設(shè)計(jì).113.1夾持式手部結(jié)構(gòu).113.1.1手指的形狀和分類.113.1.2設(shè)計(jì)時(shí)考慮的幾個(gè)問題.113.1.3手部夾緊氣缸的設(shè)計(jì).124手腕結(jié)構(gòu)設(shè)計(jì).164.1手腕的自由度.164.2手腕的驅(qū)動(dòng)力矩的計(jì)算.164.2.1手腕轉(zhuǎn)動(dòng)時(shí)所需的驅(qū)動(dòng)力矩.164.2.2回轉(zhuǎn)氣缸的驅(qū)動(dòng)力矩計(jì)算.195手臂伸縮、升降、回轉(zhuǎn)氣缸的尺寸設(shè)計(jì)與校核.215.1手臂伸縮氣缸的尺寸設(shè)計(jì)與校核.215.1.1手臂伸縮氣缸的尺寸設(shè)計(jì).215.1.2尺寸校核.215.1.3.導(dǎo)向裝置.225.1.4平衡裝置.225.2手臂升降氣缸的尺寸設(shè)計(jì)與校核.225.2.1尺寸