畢業(yè)設(shè)計(jì) 中成藥瓶蓋旋緊機(jī)械手設(shè)計(jì)
論文說(shuō)明書(shū)共45頁(yè)，字?jǐn)?shù)總計(jì)：25021
資料簡(jiǎn)介：
畢業(yè)論文說(shuō)明書(shū)：中成藥瓶蓋旋緊機(jī)械手設(shè)計(jì).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(jī)械手裝配圖.dwg
A3-回轉(zhuǎn)缸動(dòng)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(jī)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(jī)單片機(jī)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(cè)試技術(shù)的滲透發(fā)展，為了能在21世紀(jì)激烈的競(jìng)爭(zhēng)中立于不敗之地，對(duì)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(jìng)爭(zhēng)的勝敗，因此很多傳統(tǒng)的手工作業(yè)，特別是機(jī)械行業(yè)必須要求用現(xiàn)代化、自動(dòng)化的機(jī)械代替人的工作，這樣可以節(jié)省人力，提高效率，提高競(jìng)爭(zhēng)力。因此就出現(xiàn)了工業(yè)機(jī)器人，可以代替人做不同的工作。后來(lái)為了使機(jī)器人更加專用化，減少成本，簡(jiǎn)單化，又要求一種特別的機(jī)器人，專用機(jī)械手就是其中一個(gè)。在這里我將設(shè)計(jì)一個(gè)藥瓶蓋旋緊機(jī)械手，他是一個(gè)集機(jī)械、電氣、測(cè)試、微機(jī)于一體的典型的機(jī)電一體化產(chǎn)品。由機(jī)械部分作為他的執(zhí)行機(jī)構(gòu)，電氣和液壓作為驅(qū)動(dòng)機(jī)構(gòu)，各種傳感器和電位器作為測(cè)試元件，單片機(jī)作為控制機(jī)構(gòu)的一個(gè)專用機(jī)械手。本設(shè)計(jì)本著簡(jiǎn)單、實(shí)用、經(jīng)濟(jì)、高效的原則，僅是為瓶蓋旋緊而特地設(shè)計(jì)的專用機(jī)械手，他只有三個(gè)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(gè)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(jìn)電機(jī)實(shí)現(xiàn)旋緊動(dòng)作，用壓力傳感器測(cè)定是否夾緊，防止夾壞或者夾不穩(wěn)。這種設(shè)計(jì)既簡(jiǎn)單又能實(shí)現(xiàn)所要的功能，是一個(gè)圓柱坐標(biāo)式機(jī)械手。本論文將對(duì)這個(gè)專用機(jī)械手進(jìn)行方案的設(shè)計(jì)、分析、比較然后確定最優(yōu)方案，還要進(jìn)行強(qiáng)度硬度等有關(guān)的校核、以及尺寸的確定，最后畫(huà)出總裝配圖。

關(guān)鍵詞：專用機(jī)械手；旋緊；單片機(jī)控制；混合驅(qū)動(dòng)；計(jì)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(jī)械手設(shè)計(jì)的目的 3
1.2 機(jī)械手設(shè)計(jì)的內(nèi)容 3
1.3 機(jī)械手設(shè)計(jì)的要求 3
2 機(jī)械手的方案選擇 4
2.1 機(jī)械手的組成 4
2.1.1執(zhí)行機(jī)構(gòu) 4
2.1.2驅(qū)動(dòng)機(jī)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(dòng)系統(tǒng)的選定 9
3 計(jì)算校核 12
3.1 計(jì)算機(jī)械手手部的夾緊驅(qū)動(dòng)力 12
3.2 腕部回轉(zhuǎn)力矩的計(jì)算 14
3.3 臂部與機(jī)身的計(jì)算 15
3.3.1手部作升降運(yùn)動(dòng)的液壓缸驅(qū)動(dòng)力的計(jì)算 15
3.3.2手臂回轉(zhuǎn)液壓缸的計(jì)算 17
4 驅(qū)動(dòng)的選擇 19
4.1 液壓控制部分 19
4.1.1液壓控制簡(jiǎn)介 19
4.1.2液壓系統(tǒng)傳動(dòng)方案的確定 19
4.2 步進(jìn)電機(jī)控制部分 25
4.2.1步進(jìn)電機(jī)的介紹 25
4.2.2選擇步進(jìn)電機(jī) 28
4.2.3選擇步進(jìn)電機(jī)的聯(lián)軸器 29
4.2.4步進(jìn)電機(jī)的驅(qū)動(dòng)方式選擇 30
5 檢測(cè)和控制 32
6 設(shè)計(jì)總結(jié) 34
謝 辭 35
參考文獻(xiàn) 36
附錄1 37
附錄2 38