縫紉機(jī)針擺動(dòng)機(jī)械手設(shè)計(jì)

縫紉機(jī)針擺動(dòng)機(jī)械手設(shè)計(jì),縫紉機(jī)針擺動(dòng)機(jī)械手設(shè)計(jì),縫紉機(jī),擺動(dòng),機(jī)械手,設(shè)計(jì) 沈陽(yáng)理工大學(xué)學(xué)士學(xué)位論文 摘 要 工業(yè)機(jī)械手是六十年代發(fā)展起來(lái)的一門(mén)新技術(shù)。是近代自動(dòng)控制領(lǐng)域中出現(xiàn)的一項(xiàng)新技術(shù)，并已成為現(xiàn)代機(jī)械制造生產(chǎn)系統(tǒng)中的一個(gè)重要組成部分。它是一種按一定程序，能自動(dòng)搬運(yùn)和操作的機(jī)械裝置，并且能夠代替人們的部分勞動(dòng)，具有人的部分功能，而又沒(méi)有人工操作的一些弱點(diǎn)。 工業(yè)機(jī)械手一般分為三類(lèi)。第一類(lèi)是不需要人工操作的通用機(jī)械手。第二類(lèi)是需要人工操作的，稱為操作機(jī)。第三類(lèi)是專(zhuān)用機(jī)械手，主要附屬于自動(dòng)機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件傳送。這種機(jī)械手在國(guó)外稱為“Mechanical Hand”，工作程序一般是固定的，因此是專(zhuān)用的。工業(yè)機(jī)械手也便屬于此類(lèi)，近幾年來(lái)工業(yè)機(jī)械手發(fā)展很快。本次畢業(yè)設(shè)計(jì)就是在用于對(duì)縫紉機(jī)針的拋光，在拋光自動(dòng)線上用擺動(dòng)機(jī)械手，這一傳送設(shè)備來(lái)代替人工的勞作。 工業(yè)機(jī)械手應(yīng)用較多，發(fā)展較快?，F(xiàn)在的機(jī)械手都具有了某種傳感能力，觸覺(jué)功能即是在機(jī)械手上安裝反饋控制裝置。更主要的是將機(jī)械手和柔性制造系統(tǒng)和柔性制造單元相結(jié)合，能根本上機(jī)械制造系統(tǒng)的人工操作狀態(tài)。從經(jīng)濟(jì)方面看，工業(yè)機(jī)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(shù)方面看，操作機(jī)的使用與小批量生產(chǎn)中增長(zhǎng)的產(chǎn)品質(zhì)量及自動(dòng)化生產(chǎn)有關(guān)。在大批生產(chǎn)中自動(dòng)化程度最高，但在小批量生產(chǎn)中自動(dòng)化程度次之。 綜上所述,有效地應(yīng)用機(jī)械手, 是發(fā)展機(jī)械工業(yè)的必然趨勢(shì)。 關(guān)鍵詞： 機(jī)械手；液壓驅(qū)動(dòng) ；自動(dòng)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(jī)械手的簡(jiǎn)介 1.1 什么是工業(yè)機(jī)械手……………………………………………………………2 1.2 工業(yè)機(jī)械手的發(fā)展簡(jiǎn)史………………………………………………………2 1.3 工業(yè)機(jī)械手的應(yīng)用簡(jiǎn)況及應(yīng)用的意義………………………………………4 2 機(jī)械手的組成和分類(lèi) 2.1機(jī)械手的組成…………………………………………………………………7 2.1.1執(zhí)行機(jī)構(gòu)………………………………………………………………7 2.1.2驅(qū)動(dòng)部分………………………………………………………………7 2.1.3控制部分………………………………………………………………8 2.2機(jī)械手的分類(lèi)…………………………………………………………………8 2.2.1按用途分類(lèi)……………………………………………………………8 2.2.2按控制型式分類(lèi)………………………………………………………8 2.3機(jī)械手的參數(shù)…………………………………………………………………9 3 設(shè)計(jì)方案的擬訂 3.1 工業(yè)機(jī)械手總體設(shè)計(jì)原則……………………………………………………10 3.2 機(jī)械手總體設(shè)計(jì)目的…………………………………………………………10 3.3工藝要求………………………………………………………………………11 3.4 機(jī)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(jī)針擺動(dòng)機(jī)械手慨況 4.1縫紉機(jī)針擺動(dòng)機(jī)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(dòng)機(jī)械手的組成部分………………………………………………………14 5 手臂俯仰部分機(jī)構(gòu)的設(shè)計(jì) 5.1手臂的組成……………………………………………………………………15 5.2手臂的設(shè)計(jì)要求………………………………………………………………15 5.3 手臂擺動(dòng)機(jī)構(gòu)…………………………………………………………………17 5.3.1手臂上下擺動(dòng)機(jī)構(gòu)簡(jiǎn)介………………………………………………17 5.3.2手臂上下擺動(dòng)機(jī)構(gòu)及緩沖……………………………………………18 6 手臂回轉(zhuǎn)部分的設(shè)計(jì) 6.1 手臂回轉(zhuǎn)部分機(jī)構(gòu)……………………………………………………………20 6.2手臂回轉(zhuǎn)時(shí)驅(qū)動(dòng)力矩的計(jì)算…………………………………………………20 6.3 回轉(zhuǎn)油缸螺栓直徑校核………………………………………………………22 7 機(jī)械手手腕回轉(zhuǎn)部分設(shè)計(jì) 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(jī)構(gòu)…………………………………………………24 7.3夾緊力的計(jì)算…………………………………………………………………25 7.4腕部回轉(zhuǎn)力矩的計(jì)算…………………………………………………………26 7.5手腕部手指的設(shè)計(jì)要求………………………………………………………26 7.5.1手指的抓取機(jī)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(dòng)線 9.1自動(dòng)線的定義及特征…………………………………………………………30 9.2自動(dòng)線的類(lèi)型…………………………………………………………………30 9.3自動(dòng)生產(chǎn)線中的機(jī)械手………………………………………………………30 10 機(jī)械手的可靠性及經(jīng)濟(jì)效果 10.1機(jī)械手的可靠性………………………………………………………………32 10.2經(jīng)濟(jì)效果………………………………………………………………………32 結(jié)束語(yǔ) 參考文獻(xiàn) 附錄 英文原文…………………………………………………………………………35 漢語(yǔ)翻譯…………………………………………………………………………43 V