设计简介
摘 要：随着现代科技和现代工业的发展，工业的自动化程度越来越高。工业的自动化中机械手发挥着相当大的作用，小到机床的自动换刀机械手，大到整个的全自动无人职守工厂，无一不能看到机械手的身影。机械手在工业中的应用可以确保运转周期的连贯，提高质量。另外，由于机械手的控制精准，还可以提高零件精度。
关键词：机械手；自动化；精度
The Structural Design Of The Six Degrees Of Freedom Manipulator
Abstract:With the development of modern science and technology and the modern industry, industrial automation degree is more and more high. Industrial automation manipulator plays a considerable role, small to the automatic tool change mechanical arm of the machine, the whole of unattended automatic factory, no one can not see the shadow of the manipulator. Application of robot in the industry can ensure the operating cycle of coherence, improve the quality of. In addition, the manipulator control precision, but also can improve the precision of parts.
Key words: Manipulator; automation; accuracy
目 录
摘要………………………………………………………………………………1
关键词……………………………………………………………………………1
1前言……………………………………………………………………………1
2设计要求和功能分析…………………………………………………………2
2.1设计要求……………………………………………………………………2
2.2功能分析……………………………………………………………………2
3基座旋转机构轴的设计及强度校核…………………………………………3
3.1按扭转强度概略计算轴颈…………………………………………………3
3.2拟定轴的结构………………………………………………………………4
3.3 计算支反力和绘制弯矩图和扭矩图………………………………………4
3.4强度精确校核………………………………………………………………5
4液压泵俯仰机构零件设计和强度校核………………………………………6
4.1确定螺柱组连接所受的工作载荷…………………………………………6
4.2计算倾覆力矩的工作拉力…………………………………………………7
4.3求每个螺柱所需的预紧力…………………………………………………7
4.4计算螺柱直径………………………………………………………………7
4.5校验螺柱组连接接合面的工作能力………………………………………8
5左右摇摆机构零件设计和强度校核…………………………………………8
5.1动叶片中3个螺钉设计……………………………………………………9
5.2动叶片中2个销的设计……………………………………………………9
5.3动叶片与套筒之间的键的设计…………………………………………10
5.4轴的设计…………………………………………………………………10
6连腕部俯仰机构零件设计和强度校核……………………………………10
6.1动叶片中3个螺钉设计…………………………………………………11
6.2连接前自由度箱体的4个固定螺钉设计………………………………11
6.3动叶片中2个销的设计…………………………………………………13
6.4动叶片与套筒之间的键的设计…………………………………………14
6.5轴的设计…………………………………………………………………14
7旋转和夹紧机构零件设计和强度校核……………………………………15
7.1机械手指部基座与回转体的螺栓连接…………………………………15
7.2手部旋转液压缸叶片与夹紧缸连接螺钉的设计………………………17
7.3机械手指部设计及夹紧力计算…………………………………………19
8总结…………………………………………………………………………20
参考文献………………………………………………………………………20
致谢……………………………………………………………………………20
关键词：机械手；自动化；精度
The Structural Design Of The Six Degrees Of Freedom Manipulator
Abstract:With the development of modern science and technology and the modern industry, industrial automation degree is more and more high. Industrial automation manipulator plays a considerable role, small to the automatic tool change mechanical arm of the machine, the whole of unattended automatic factory, no one can not see the shadow of the manipulator. Application of robot in the industry can ensure the operating cycle of coherence, improve the quality of. In addition, the manipulator control precision, but also can improve the precision of parts.
Key words: Manipulator; automation; accuracy
目 录
摘要………………………………………………………………………………1
关键词……………………………………………………………………………1
1前言……………………………………………………………………………1
2设计要求和功能分析…………………………………………………………2
2.1设计要求……………………………………………………………………2
2.2功能分析……………………………………………………………………2
3基座旋转机构轴的设计及强度校核…………………………………………3
3.1按扭转强度概略计算轴颈…………………………………………………3
3.2拟定轴的结构………………………………………………………………4
3.3 计算支反力和绘制弯矩图和扭矩图………………………………………4
3.4强度精确校核………………………………………………………………5
4液压泵俯仰机构零件设计和强度校核………………………………………6
4.1确定螺柱组连接所受的工作载荷…………………………………………6
4.2计算倾覆力矩的工作拉力…………………………………………………7
4.3求每个螺柱所需的预紧力…………………………………………………7
4.4计算螺柱直径………………………………………………………………7
4.5校验螺柱组连接接合面的工作能力………………………………………8
5左右摇摆机构零件设计和强度校核…………………………………………8
5.1动叶片中3个螺钉设计……………………………………………………9
5.2动叶片中2个销的设计……………………………………………………9
5.3动叶片与套筒之间的键的设计…………………………………………10
5.4轴的设计…………………………………………………………………10
6连腕部俯仰机构零件设计和强度校核……………………………………10
6.1动叶片中3个螺钉设计…………………………………………………11
6.2连接前自由度箱体的4个固定螺钉设计………………………………11
6.3动叶片中2个销的设计…………………………………………………13
6.4动叶片与套筒之间的键的设计…………………………………………14
6.5轴的设计…………………………………………………………………14
7旋转和夹紧机构零件设计和强度校核……………………………………15
7.1机械手指部基座与回转体的螺栓连接…………………………………15
7.2手部旋转液压缸叶片与夹紧缸连接螺钉的设计………………………17
7.3机械手指部设计及夹紧力计算…………………………………………19
8总结…………………………………………………………………………20
参考文献………………………………………………………………………20
致谢……………………………………………………………………………20
