縫紉機針擺動機械手設計,縫紉機針擺動機械手設計,縫紉機,擺動,機械手,設計 沈陽理工大學學士學位論文 摘 要 工業(yè)機械手是六十年代發(fā)展起來的一門新技術。是近代自動控制領域中出現(xiàn)的一項新技術，并已成為現(xiàn)代機械制造生產(chǎn)系統(tǒng)中的一個重要組成部分。它是一種按一定程序，能自動搬運和操作的機械裝置，并且能夠代替人們的部分勞動，具有人的部分功能，而又沒有人工操作的一些弱點。 工業(yè)機械手一般分為三類。第一類是不需要人工操作的通用機械手。第二類是需要人工操作的，稱為操作機。第三類是專用機械手，主要附屬于自動機床或自動線上，用以解決機床上下料和工件傳送。這種機械手在國外稱為“Mechanical Hand”，工作程序一般是固定的，因此是專用的。工業(yè)機械手也便屬于此類，近幾年來工業(yè)機械手發(fā)展很快。本次畢業(yè)設計就是在用于對縫紉機針的拋光，在拋光自動線上用擺動機械手，這一傳送設備來代替人工的勞作。 工業(yè)機械手應用較多，發(fā)展較快。現(xiàn)在的機械手都具有了某種傳感能力，觸覺功能即是在機械手上安裝反饋控制裝置。更主要的是將機械手和柔性制造系統(tǒng)和柔性制造單元相結合，能根本上機械制造系統(tǒng)的人工操作狀態(tài)。從經(jīng)濟方面看，工業(yè)機械手能夠提高生產(chǎn)率，保證產(chǎn)品質(zhì)量，降低廢品率，提高基本裝置的載荷能力；從技術方面看，操作機的使用與小批量生產(chǎn)中增長的產(chǎn)品質(zhì)量及自動化生產(chǎn)有關。在大批生產(chǎn)中自動化程度最高，但在小批量生產(chǎn)中自動化程度次之。 綜上所述,有效地應用機械手, 是發(fā)展機械工業(yè)的必然趨勢。 關鍵詞： 機械手；液壓驅(qū)動 ；自動線 ；柔性系統(tǒng) Abstract The industry manipulator is a new technology developed in the sixties. It is a new technology appearing in modern automatic controlled field, and has already become an important component in the production system of modern machine-building. It is one kind according to certain procedure , the mechanical device that can be carried and operated automatically, and the part that can replace people works, have some functions of people's, and there are not some manually operated weaknesses . The industry manipulator is generally divided into three kinds. The first kind does not need the manually operated manipulator in common use . The second kind needs to be manually operated, is called the operating machine. The third kind is a special-purpose manipulator, affiliate on the automatic lathe or the transfer machine mainly, used to solve the upper and lower material of lathe and work piece to convey. This kind of manipulator is called " Mechanical Hand " abroad, the working routine is generally regular, so it is special-purpose. The industry manipulator belongs to this kind of too, the industry manipulator has been developed quickly in recent years. This graduation project is used in the polishing to the sewing machine needle , use the swing manipulator on the polishing transfer machine, this conveyance equipment comes to replace artificial work. In the mechanical manufacturing industry abroad, the industry The industry manipulator is used more, it is very fast to develop. Present manipulator all have a certain sensing ability , the sense of touch function is to install and feedback the control device on hand in machinery . The mainer one is combining flexible manufacturing system and flexible manufacturing unit with the manipulator, artificial operation state of the manufacture system that can be essentially mechanical. By the look of economy, the industry manipulator can boost productivity , guarantee product quality, reduce the rejection rate , the loaded ability to raise basic device ; By the look of technology, the use of the operating machine has related to the fact that it is small product quality and automation increasing are produced while producing in batches. The automatic degree is the highest in large-scale production, but take second place in the small automatic degree while producing in batches. In sum , use the manipulator effectively, it is the inexorable trend which develops mechanical industry. Key phrase: Machine hand；The liquid presses to drive；Automatic line；Flexible system 目 錄 中文摘要………………………………………………………………………………Ⅰ 英文摘要………………………………………………………………………………Ⅱ 緒論……………………………………………………………………………………1 1 工業(yè)機械手的簡介 1.1 什么是工業(yè)機械手……………………………………………………………2 1.2 工業(yè)機械手的發(fā)展簡史………………………………………………………2 1.3 工業(yè)機械手的應用簡況及應用的意義………………………………………4 2 機械手的組成和分類 2.1機械手的組成…………………………………………………………………7 2.1.1執(zhí)行機構………………………………………………………………7 2.1.2驅(qū)動部分………………………………………………………………7 2.1.3控制部分………………………………………………………………8 2.2機械手的分類…………………………………………………………………8 2.2.1按用途分類……………………………………………………………8 2.2.2按控制型式分類………………………………………………………8 2.3機械手的參數(shù)…………………………………………………………………9 3 設計方案的擬訂 3.1 工業(yè)機械手總體設計原則……………………………………………………10 3.2 機械手總體設計目的…………………………………………………………10 3.3工藝要求………………………………………………………………………11 3.4 機械手的管路配置……………………………………………………………11 3.5電控系統(tǒng)的選擇及定位方法…………………………………………………12 4 縫紉機針擺動機械手慨況 4.1縫紉機針擺動機械手的用途…………………………………………………13 4.2規(guī)格參數(shù)………………………………………………………………………13 4.3配置及工作原理………………………………………………………………13 4.4擺動機械手的組成部分………………………………………………………14 5 手臂俯仰部分機構的設計 5.1手臂的組成……………………………………………………………………15 5.2手臂的設計要求………………………………………………………………15 5.3 手臂擺動機構…………………………………………………………………17 5.3.1手臂上下擺動機構簡介………………………………………………17 5.3.2手臂上下擺動機構及緩沖……………………………………………18 6 手臂回轉(zhuǎn)部分的設計 6.1 手臂回轉(zhuǎn)部分機構……………………………………………………………20 6.2手臂回轉(zhuǎn)時驅(qū)動力矩的計算…………………………………………………20 6.3 回轉(zhuǎn)油缸螺栓直徑校核………………………………………………………22 7 機械手手腕回轉(zhuǎn)部分設計 7.1手腕的定義及作用……………………………………………………………24 7.2手腕回轉(zhuǎn)和夾持手部的機構…………………………………………………24 7.3夾緊力的計算…………………………………………………………………25 7.4腕部回轉(zhuǎn)力矩的計算…………………………………………………………26 7.5手腕部手指的設計要求………………………………………………………26 7.5.1手指的抓取機能…………………………………………………………27 7.5.2手指的握力大小…………………………………………………………27 7.5.3足夠的夾緊距離…………………………………………………………27 8 液壓系統(tǒng)的工作原理 8.1液壓系統(tǒng)………………………………………………………………………28 9 什么是自動線 9.1自動線的定義及特征…………………………………………………………30 9.2自動線的類型…………………………………………………………………30 9.3自動生產(chǎn)線中的機械手………………………………………………………30 10 機械手的可靠性及經(jīng)濟效果 10.1機械手的可靠性………………………………………………………………32 10.2經(jīng)濟效果………………………………………………………………………32 結束語 參考文獻 附錄 英文原文…………………………………………………………………………35 漢語翻譯…………………………………………………………………………43 V