本文選題：多工位獨(dú)立式?jīng)_壓機(jī)械手 + 結(jié)構(gòu)優(yōu)化　； 參考：《深圳大學(xué)》2017年碩士論文

【摘要】：隨著產(chǎn)業(yè)的轉(zhuǎn)型升級(jí),用工成本的增加,制造業(yè)必須對(duì)現(xiàn)有的設(shè)備進(jìn)行現(xiàn)代化升級(jí),用更先進(jìn)的自動(dòng)化設(shè)備代替?zhèn)鹘y(tǒng)生產(chǎn)設(shè)備,或替代人工生產(chǎn)。而作為基礎(chǔ)制造業(yè)的沖壓行業(yè)來(lái)說(shuō),其絕大多數(shù)的中小企業(yè)的生產(chǎn)是依靠人工來(lái)完成的,不但生產(chǎn)效率低,勞動(dòng)強(qiáng)度高,而且工作環(huán)境惡劣,使企業(yè)生產(chǎn)成本急劇上升。因此,實(shí)現(xiàn)沖壓生產(chǎn)的自動(dòng)化有著迫切的需求。為提高企業(yè)的生產(chǎn)效率,降低工人勞動(dòng)強(qiáng)度,改善工人工作環(huán)境,需要研制一種多工位獨(dú)立式高速?zèng)_壓機(jī)械手,以實(shí)現(xiàn)沖床上下料的自動(dòng)化及運(yùn)輸?shù)臒o(wú)人化。通過(guò)對(duì)企業(yè)的實(shí)地考察,了解了電機(jī)機(jī)殼的沖壓加工生產(chǎn)的工藝以及現(xiàn)有沖壓生產(chǎn)線沖床的布局及各沖床的結(jié)構(gòu)參數(shù),并查閱了關(guān)于沖壓成型的工作原理和沖床沖壓的相關(guān)文獻(xiàn)資料,針對(duì)企業(yè)生產(chǎn)的實(shí)際情況,提出了上下料機(jī)械手的整體方案。本文首先闡述了機(jī)械手的產(chǎn)生歷史、發(fā)展過(guò)程,然后敘述了機(jī)械手在世界各國(guó)的應(yīng)用情況和未來(lái)的發(fā)展趨勢(shì),并在論述了本項(xiàng)目的研究背景和意義后,結(jié)合電機(jī)機(jī)殼的沖壓工藝和沖床的布局及結(jié)構(gòu)參數(shù),對(duì)比各種設(shè)計(jì)方案的特點(diǎn),確定了本項(xiàng)目中所設(shè)計(jì)的機(jī)械手總體方案。其次根據(jù)機(jī)械手的總體設(shè)計(jì)方案,對(duì)完成機(jī)械手各動(dòng)作的橫向驅(qū)動(dòng)模塊、上下料模塊、端拾器模塊、中轉(zhuǎn)站模塊進(jìn)行結(jié)構(gòu)設(shè)計(jì),同時(shí)完成各零件的結(jié)構(gòu)設(shè)計(jì),并完成三維建模。在利用計(jì)算機(jī)輔助設(shè)計(jì)軟件SolidWorks完成對(duì)機(jī)械手所有零部件的建模后,將所設(shè)計(jì)的零部件裝配成完整的設(shè)備。為減小機(jī)械手的慣性,使機(jī)械手運(yùn)動(dòng)更加靈活,也使控制精度更高,應(yīng)減小機(jī)械手的質(zhì)量。因此首先利用ANSYS Workbench完成對(duì)手部零件的靜力學(xué)分析,求解手部零件的最大應(yīng)力、最大總變形,在確保其最大應(yīng)力和最大總變形不超過(guò)允許的情況下,對(duì)手部零件進(jìn)行形狀優(yōu)化設(shè)計(jì),去除不必要的材料,達(dá)到減少手部零件質(zhì)量的目的。在形狀優(yōu)化設(shè)計(jì)后,再進(jìn)行多目標(biāo)參數(shù)優(yōu)化設(shè)計(jì),使零件在滿足工作條件的情況下,使其尺寸結(jié)構(gòu)達(dá)到最優(yōu)。然后根據(jù)機(jī)械手的工作條件,對(duì)伺服電機(jī)、滑塊導(dǎo)軌等標(biāo)準(zhǔn)件進(jìn)行選型與計(jì)算,使選擇的標(biāo)準(zhǔn)件在滿足使用要求的情況下,充分發(fā)揮其工作性能,同時(shí)也降低生產(chǎn)成本。最后,對(duì)本項(xiàng)目完成的內(nèi)容進(jìn)行總結(jié),并針對(duì)項(xiàng)目研制過(guò)程中未解決的問(wèn)題提出展望。
[Abstract]:With the transformation and upgrading of industry and the increase of labor cost, the manufacturing industry must modernize and upgrade the existing equipment, replace traditional production equipment with more advanced automation equipment, or replace manual production. As the basic manufacturing industry, the majority of the production of small and medium-sized enterprises depends on labor, not only low production efficiency, high labor intensity, but also bad working environment, which makes the production cost of enterprises rise sharply. Therefore, the realization of stamping production automation has an urgent need. In order to improve the production efficiency, reduce the labor intensity of the workers and improve the working environment of the workers, it is necessary to develop a multi-station independent high-speed stamping manipulator to realize the automation of charging and unloading of the punching machine and the inhumanity of transportation. Based on the field investigation of the enterprise, the process of punching production of motor housing, the layout of punching machine and the structure parameters of each punching machine are understood. The working principle of stamping forming and the related documents of punching machine were consulted, and the whole scheme of upper and lower manipulator was put forward according to the actual production situation of enterprises. This paper first describes the history and development of manipulator, then describes the application of manipulator in the world and the development trend in the future, and discusses the research background and significance of this project. Combined with the stamping process of the motor housing and the layout and structural parameters of the punching machine, compared with the characteristics of various design schemes, the overall scheme of the manipulator designed in this project was determined. Secondly, according to the overall design scheme of manipulator, the structure design of lateral driving module, loading and unloading module, end picker module and transfer station module are carried out. At the same time, the structural design of each part is completed, and the 3D modeling is completed. After the modeling of all parts of manipulator is completed by SolidWorks, the designed parts are assembled into complete equipment. In order to reduce the inertia of the manipulator, make the manipulator motion more flexible and make the control precision higher, the quality of the manipulator should be reduced. Therefore, the static analysis of hand parts is completed by using ANSYS Workbench, and the maximum stress and total deformation of hand parts are solved, in case that the maximum stress and total deformation do not exceed the allowable value. Optimize the shape of hand parts, remove unnecessary materials and reduce the quality of hand parts. After the shape optimization design, the multi-objective parameter optimization design is carried out, so that the dimension and structure of the parts can be optimized when the working conditions are satisfied. Then according to the working conditions of the manipulator, the servo motor, slider guide and other standard parts are selected and calculated, so that the selected standard parts can give full play to their working performance and reduce the production cost. Finally, the contents of the project are summarized, and the unsolved problems in the project development are prospected.
【學(xué)位授予單位】：深圳大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG385;TP241

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