济南大学毕业论文
毕业论文
题 目 关节型工业机械手的结构设计
学 院 机械工程学院 专 业 机械工程及自动化 班 级 机自0917班 学 生 廉开发 学 号 20090421170 指导教师 苏东宁
二〇一 三 年 六 月 三 日
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济南大学毕业论文
摘 要
关于该关节型工业机械手的具体研究方法。本次设计工作首先对实体安川机器人进行了细致的研究，了解了其内部的具体结构，安川机器人的结构可分为六个轴系，然后根据六个轴系对其内部结构进行分解，以便了解各个零件之间的配合，这样就对安川机器人有了大体的了解。下面就进行尺寸的测量，尺寸的测量只需要测量一下大体的外观尺寸，而内部尺寸可根据零件的配合进行合理的设计。然后，进行计算（包括电机功率的计算，轴的设计，齿轮的参数计算），接着可依据相关资料，选取恰当的电机。最后，可根据实体与之前所掌握的知识对机械手的结构进行设计分析。
关键词:伺服电机、机械手抓、移动旋转。
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济南大学毕业论文
ABSTRACT
Here is about the research method of the industrial manipulator joints. The design work on the real first AnChuan robot has carried on the detailed research, understand the internal structure of concrete, AnChuan robot structure can be divided into six axis, and then according to the six axis of its internal structure decomposition, in order to understand the cooperation between the various parts of the, thus for AnChuan robot have roughly understanding. Below is the size of the measurement, the size of the measurement only need to measure the general appearance of the size, and the internal dimension can be reasonable according to the parts of the design. Then, computing (including motor power calculation, the design of the shaft, the gear parameter calculation), then can according to relevant data, select the appropriate machine. Finally, according to the entity and prior knowledge on the structure of the manipulator design analysis.
Keywords: servo motor rotate, manipulator grabbing and moving.
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济南大学毕业论文
目 录
摘 要 ........................................................................................................................................... I ABSTRACT ........................................................................................................................................... II 1 前言 ................................................................................................................................................ 1
1.1 机械手国内外发展现状 ..................................................................................................... 1 1.2 多关节型工业机械手概述 ................................................................................................. 2 1.3 机械手组成与分类 ............................................................................................................. 3
1.3.1机械手组成 ............................................................................................................... 3 1.3.2机械手分类 ............................................................................................................... 3
2机械手的设计方案 ......................................................................................................................... 5
2.1设计任务的提出 .................................................................................................................. 5 2.2 机械手设计方案 ................................................................................................................. 5 2.2 方案特点 ............................................................................................................................. 6 3.1 电机的选型 ......................................................................................................................... 7
3.1.1 初步估算机械手的质量 .......................................................................................... 7 3.1.2计算各个轴的转速及转矩 ....................................................................................... 8 3.1.3 计算电机功率 ........................................................................................................ 10 3.2 锥齿轮设计 ....................................................................................................................... 10
3.2.1 齿轮精度、材料 .................................................................................................... 10 3.2.2 按齿面接触疲劳强度设计 .................................................................................... 11 3.2.3 按齿根弯曲强度设计 ............................................................................................ 12 3.2.4 锥齿轮参数计算 .................................................................................................... 12 3.3 同步带轮的设计 ............................................................................................................... 13
3.3.1 同步齿形带传动计算 ............................................................................................ 13 3.3.2 带轮几何尺寸的计算 ............................................................................................ 15 3.4 减速器的设计 ................................................................................................................... 16
3.4.1 减速器减速比的计算 ............................................................................................ 16 3.4.2 减速器输出轴径的计算 ........................................................................................ 16
4 机械手各结构设计 ...................................................................................................................... 18
4.1 手爪结构的设计 ............................................................................................................... 18
4.1.1 手爪的设计要求 .................................................................................................... 18 4.1.2 手爪的分类 ............................................................................................................ 18 4.1.3 手部结构形式的确定 ............................................................................................ 18 4.2 手腕结构的设计 ............................................................................................................... 18
4.2.1 手腕的设计要求 .................................................................................................... 19 4.2.2 手腕结构形式的确定 ............................................................................................ 19 4.3 手臂结构的设计 ............................................................................................................... 19
4.3.1 手臂的设计要求 .................................................................................................... 19 4.3.2 手臂结构 ................................................................................................................ 20 4.3.3 小臂结构形式的确定 ............................................................................................ 20 4.4 小臂后箱体的结构设计 ................................................................................................... 20 4.5 连接杆件的设计 ............................................................................................................... 21
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济南大学毕业论文
5 关键轴的校核 .............................................................................................................................. 22
5.1 腕部输入轴的结构 ........................................................................................................... 22 5.2 轴的校核 ........................................................................................................................... 22 6 结 论 ..................................................................................................................................... 25 参考文献 .......................................................................................................................................... 26 致 谢 ......................................................................................................................................... 27
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关节型工业机械手毕业设计说明书
