【摘要】：本設(shè)計(jì)研究的內(nèi)容是來源于某企業(yè)一生產(chǎn)流水線上搬運(yùn)工料的項(xiàng)目。根據(jù)企業(yè)的計(jì)劃書,設(shè)計(jì)出一種適用于該生產(chǎn)線上工作的機(jī)械手。工業(yè)機(jī)器人作為近些年飛速起步的高新技術(shù)產(chǎn)品,它在各大領(lǐng)域應(yīng)用廣泛。在我國,本土的機(jī)械手企業(yè)們?cè)诿鎸?duì)著占據(jù)極大市場(chǎng)份額的大量優(yōu)秀的國外企業(yè),具有非常嚴(yán)峻的競爭壓力。如今我國正在從一個(gè)"制造大國"向"制造強(qiáng)國"轉(zhuǎn)型,中國制造業(yè)必將與國際接軌,自動(dòng)化水平提高迫在眉睫,機(jī)械手的發(fā)展必將為工業(yè)化注入新的血液。由于液壓驅(qū)動(dòng)相對(duì)其他驅(qū)動(dòng)方式具有負(fù)載大,工作可靠的特點(diǎn)。所以本課題設(shè)計(jì)的機(jī)械手采用液壓驅(qū)動(dòng)來作為它的驅(qū)動(dòng)方式。在綜合各方面因素以及用戶所要求的基礎(chǔ)上,再根據(jù)企業(yè)需求及現(xiàn)實(shí)情況本設(shè)計(jì)總體方案是采用四自由度的機(jī)械手,主要通過CATIA軟件對(duì)機(jī)械手的構(gòu)件進(jìn)行三維建模。具體分析了運(yùn)動(dòng)原理和工作循環(huán),完成了液壓系統(tǒng)的設(shè)計(jì),如液壓執(zhí)行元件驅(qū)動(dòng)力的計(jì)算;對(duì)液壓缸壓力與流量的計(jì)算以及液壓缸的選型等;繪制出液壓系統(tǒng)原理圖;對(duì)液壓元件如液壓泵,管道,油箱的計(jì)算與選取;對(duì)液壓系統(tǒng)工作性能的驗(yàn)證;用AMESim對(duì)液壓系統(tǒng)進(jìn)行動(dòng)力學(xué)分析;對(duì)機(jī)械手建模并且運(yùn)用ADAMS對(duì)其開展運(yùn)動(dòng)學(xué)仿真以確保設(shè)計(jì)的可行性。
[Abstract]:The content of this design research is from a production line of a certain enterprise to carry the material project. According to the enterprise's plan, a manipulator is designed to work on the production line. As a high-tech product, industrial robot has been widely used in many fields. In our country, the domestic manipulator enterprises are facing a great deal of outstanding foreign enterprises which occupy a great market share, and have very severe competition pressure. At present, China is transforming from a "manufacturing power" to a "manufacturing power". China's manufacturing industry is bound to be in line with the international standards, and the level of automation is imminent. The development of the manipulator will surely inject new blood into the industrialization. Compared with other driving methods, hydraulic drive has the characteristics of heavy load and reliable operation. So the manipulator designed in this paper adopts hydraulic drive as its driving mode. On the basis of synthesizing all kinds of factors and the requirements of the users, according to the demand of the enterprise and the actual situation, the overall scheme of the design is to adopt the manipulator with four degrees of freedom, mainly through the CATIA software to carry on the three-dimensional modeling of the components of the manipulator. The movement principle and working cycle are analyzed, and the hydraulic system is designed, such as the calculation of the driving force of the hydraulic actuator, the calculation of the pressure and flow rate of the hydraulic cylinder and the selection of the hydraulic cylinder, and the schematic diagram of the hydraulic system is drawn. Calculation and selection of hydraulic components such as hydraulic pump, pipeline and tank; verification of hydraulic system performance; dynamic analysis of hydraulic system with AMESim; The manipulator is modeled and kinematically simulated by ADAMS to ensure the feasibility of the design.
【學(xué)位授予單位】：安徽理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP241

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