畢業(yè)設(shè)計 中成藥瓶蓋旋緊機械手設(shè)計
論文說明書共45頁，字數(shù)總計：25021
資料簡介：
畢業(yè)論文說明書：中成藥瓶蓋旋緊機械手設(shè)計.doc
英文翻譯.doc
A2-液壓控制系統(tǒng)圖.dwg
A2-特殊軸.dwg
A2-花鍵軸.dwg
A2-軸承安裝筒.dwg
A0-機械手裝配圖.dwg
A3-回轉(zhuǎn)缸動片.dwg
A2-升降缸后蓋.dwg
A2-回轉(zhuǎn)缸體.dwg
A2-夾緊缸體.dwg
A2-回轉(zhuǎn)缸前蓋.dwg
A3-夾緊缸活塞.dwg
A3-連軸器.dwg
摘 要

隨著現(xiàn)代機械工業(yè)的不斷發(fā)展，科學(xué)技術(shù)日新月異，尤其是微機單片機等技術(shù)的出現(xiàn)以及他們的優(yōu)越的性能不斷完善，還有現(xiàn)代測試技術(shù)的滲透發(fā)展，為了能在21世紀激烈的競爭中立于不敗之地，對各行各業(yè)提出了更高的要求，尤其是科技含量還有就是效率，效率決定競爭的勝敗，因此很多傳統(tǒng)的手工作業(yè)，特別是機械行業(yè)必須要求用現(xiàn)代化、自動化的機械代替人的工作，這樣可以節(jié)省人力，提高效率，提高競爭力。因此就出現(xiàn)了工業(yè)機器人，可以代替人做不同的工作。后來為了使機器人更加專用化，減少成本，簡單化，又要求一種特別的機器人，專用機械手就是其中一個。在這里我將設(shè)計一個藥瓶蓋旋緊機械手，他是一個集機械、電氣、測試、微機于一體的典型的機電一體化產(chǎn)品。由機械部分作為他的執(zhí)行機構(gòu)，電氣和液壓作為驅(qū)動機構(gòu)，各種傳感器和電位器作為測試元件，單片機作為控制機構(gòu)的一個專用機械手。本設(shè)計本著簡單、實用、經(jīng)濟、高效的原則，僅是為瓶蓋旋緊而特地設(shè)計的專用機械手，他只有三個自由度，包括手臂的升降、手臂的旋轉(zhuǎn)還有手腕的旋轉(zhuǎn)的三個自由度。他是由液壓控制手臂的升降、回轉(zhuǎn)和手指的夾緊放松，用步進電機實現(xiàn)旋緊動作，用壓力傳感器測定是否夾緊，防止夾壞或者夾不穩(wěn)。這種設(shè)計既簡單又能實現(xiàn)所要的功能，是一個圓柱坐標式機械手。本論文將對這個專用機械手進行方案的設(shè)計、分析、比較然后確定最優(yōu)方案，還要進行強度硬度等有關(guān)的校核、以及尺寸的確定，最后畫出總裝配圖。

關(guān)鍵詞：專用機械手；旋緊；單片機控制；混合驅(qū)動；計算校核


Abstract

As the mechanical industry unceasingly develops, science and technology change with each passing day, especially the appearance of microcontroller and microcomputer makes it develop faster with their excellent function that is perfecter, meanwhile, which is with infiltration of development of modern measuring and testing technique. For standing up for ever in cutthroat competition in the 21st century, pushing all walks of life needs higher requirement, especially including Scientific and technological content and efficiency, because efficiency decides who will be winner, much traditional work of hand esecially for Machinery Industry must require to use the machines of modernization and automation to do work commonly done by persons, so it can save manpower, improve efficiency and improve the competitive power. So industrial robot appears with the very reasons, who can replace people to do different jobs. Then for the purpose of speciality in robot , reducing cost and simplification, it requires a kind of special robot, to which special manipulator belongs. Here I will design a manipulator using for tightening cover of medicine bottle, it is typically a kind of product about mechanotronics, which includes mechnism、electric、testing and microcomputer. The parts of machine is actuator, electric and hydraulic pressure is driver, all kinds of sensors and potentiometer are used for testing components, microcontroller controls manipulator as control mechnasm. The special manipulator used for tightening the cover of medicine bottle has three DOF. Hydraulic pressure controls the movement and rotation of the arm and clamping and disentwining of hand of manipulator with wrist owning three DOF. Using step motor realize the action of tightening ,using force sensors measures whether it is clamped, which prevented parts to be broken or instable. This design is not only simple ,but also it can realize some function we need, it is a rectangular coordinate’s manipulator. This paper decides to most excellent solution through designing , anlyzing and comparing manipulator’s solution , meanwhile, by checking intensity, rigidity and so on and ensuring responding dimension, at last I draw general assembly drawing.

Key words： special manipulator; tightening; microcontroller control; couple driving; checking calculation
目 錄
引言 1
1 緒論 3
1.1 機械手設(shè)計的目的 3
1.2 機械手設(shè)計的內(nèi)容 3
1.3 機械手設(shè)計的要求 3
2 機械手的方案選擇 4
2.1 機械手的組成 4
2.1.1執(zhí)行機構(gòu) 4
2.1.2驅(qū)動機構(gòu) 5
2.1.3控制系統(tǒng) 5
2.1.4基體 6
2.2 方案的比較選擇 6
2.2.1手部的選定 6
2.2.2腕部的選定 7
2.2.3臂部的選定 8
2.2.4驅(qū)動系統(tǒng)的選定 9
3 計算校核 12
3.1 計算機械手手部的夾緊驅(qū)動力 12
3.2 腕部回轉(zhuǎn)力矩的計算 14
3.3 臂部與機身的計算 15
3.3.1手部作升降運動的液壓缸驅(qū)動力的計算 15
3.3.2手臂回轉(zhuǎn)液壓缸的計算 17
4 驅(qū)動的選擇 19
4.1 液壓控制部分 19
4.1.1液壓控制簡介 19
4.1.2液壓系統(tǒng)傳動方案的確定 19
4.2 步進電機控制部分 25
4.2.1步進電機的介紹 25
4.2.2選擇步進電機 28
4.2.3選擇步進電機的聯(lián)軸器 29
4.2.4步進電機的驅(qū)動方式選擇 30
5 檢測和控制 32
6 設(shè)計總結(jié) 34
謝 辭 35
參考文獻 36
附錄1 37
附錄2 38