机械5

摘要 现代制造业技术的进步，进了冲压生产向高速化、自动化和智能化方向的发展。传统的冲压生产多采用专机操作和人工上下料,而这种生产方式已不能满足日益快速发展的工业要求。如今,在冲压生产中引进自动化生产单元和建立柔性自动化生产线,不仅可以实现冲压设备的高效、高速化,还可以提高产品加工的质量和精度,同时也开辟了冲压生产技术的一个重要发展方向。冲床机械手是在自动化设备的基础上,专门为实现冲压自动化无人生产而研发的智能设备,它能够间接或直接地代替人工在相关冲压工位上进行物料的取放、搬运和冲压上下料等工作,从而极大地提高生产效率和质量。相比于电机驱动、液压驱动，气压传动与控制的机械手在响应速度以及自动化控制上具有很大的优势。气动技术使用气体为动力传输介质。首先，气源来源广泛，可直接从空气中汲取，廉价便捷。其次，气动传动迅速，稳定可靠，结构简单，质量也较其他机构更轻。在末端执行效果来看，使用气动可使执行机构具有很好的柔性，这样在使用过程中更加的安全，对所工作对象的损伤也较校另外，由于气体无害，清洁，其在维修、检查等方面都较为方便。 机械技术与电子技术相结合已经成为当前装备制造业的主流和发展趋向，机电一体化是现代化机械和技术的重要特征之一，为适应机电一体化的应用，气压传动与控制技术更应顺应时代的发展。气动机械手的探索创新将是一个很好的拓展方向。 根据100吨冲床自动上下料机械手设计要求,对总体方案设计和驱动方式进行对比选优。着重针对机械手末端执行机构，对轴类工件以及薄板工件的抓取方式进行对比选择。对于机械手对工件的搬运、翻面等工序有针对性的采用伸缩气缸以及摆动马达，并对其进行设计计算、校核对于满足设计要求的元件优先采用标准件。在机械手结构设计计算的基础上，用SolidWorks软件完成了机械手手腕回转结构、机械手臂伸缩升降结构以及导向机构的三维建模。 关键词：机械手，气压传动，Solidworks三维建模，冲压。 ABSTRACT The progress of moder
n ma
nufacturi
ng tech
nology has promoted the developme
nt of stampi
ng productio
n i
n the directio
n of high speed, automatio
n a
nd i
ntellige
nce. The traditio
nal stampi
ng productio
n uses the special machi
ne operatio
n a
nd the ma
nual loadi
ng a
nd u
nloadi
ng, but this ki
nd of productio
n method ca
n
not meet the i
ncreasi
ngly rapid developme
nt of the i
ndustrial requireme
nts. Nowadays, the i
ntroductio
n of automated productio
n u
nits a
nd the establishme
nt of flexible automated productio
n li
nes i
n stampi
ng productio
n ca
n
not o
nly achieve high efficie
ncy a
nd high speed of stampi
ng equipme
nt, but also improve the quality a
nd precisio
n of product processi
ng. A
nd at the same time, it also ope
ns up a
n importa
nt developme
nt directio
n of stampi
ng productio
n tech
nology. The pu
nch ma
nipulator is a smart device developed specifically for automatio
n of u
npressurized stampi
ng o
n the basis of automatio
n equipme
nt. It ca
n directly or i
ndirectly replace the ma
nual picki
ng a
nd placi
ng, ha
ndli
ng a
nd pu
nchi
ng of materials o
n the releva
nt stampi
ng statio
ns, so the productio
n efficie
ncy a
nd product quality have bee
n greatly i
ncreased. Compared to the motor-drive
n, hydraulically-drive
n p
neumatic tra
nsmissio
n a
nd co
ntrol ma
nipulators, it has great adva
ntages i
n respo
nse speed a
nd automatio
n co
ntrol. P
neumatic tech
nology uses gas-powered tra
nsmissio
n media. First of all, the source of gas is wide a
nd it ca
n be directly extracted from the air, which is cheap a
nd co
nve
nie
nt. Seco
nd, p
neumatic tra
nsmissio
n is rapid, stable, reliable, simple i
n structure, a
nd lighter i
n quality tha
n other mecha
nisms. I
n the e
nd of the impleme
ntatio
n of the effect of view, the use of p
neumatic actuators ca
n have a very good flexibility, so that i
n the use of more secure, less damage to the work of the object. I
n additio
n, because the gas is harmless a
nd clea
n, it is co
nve
nie
nt for mai
nte
na
nce, i
nspectio
n. The combi
natio
n of mecha
nical tech
nology a
nd electro
nic tech
nology has become the curre
nt mai
nstream a
nd developme
nt tre
nd of the equipme
nt i
ndustry. Mecha
nical a
nd electrical i
ntegratio
n is o
ne of the importa
nt features of moder
n machi
nery a
nd tech
nology. I
n order to adapt to the applicatio
n of mechatro
nics, the p
neumatic tra
nsmissio
n a
nd co
ntrol tech
nology should adapt to the times. The exploratio
n a
nd i
n
novatio
n of p
neumatic robots will be a good developme
nt directio
n. Accordi
ng to the desig
n requireme
nts, the robot's overall program desig
n a
nd drive methods are compared a
nd selected. Emphasis will be placed o
n the selectio
n of the grippi
ng method for the shaft-type workpiece a
nd the thi
n-plate workpiece by the e
nd effector of the robot. For telescopic cyli
nders a
nd oscillati
ng motors, the ma
nipulator's ha
ndli
ng of workpieces, tur
ni
ng a
nd other processes are targeted, a
nd their desig
n calculatio
ns a
nd verificatio
ns are performed. Compo
ne
nts that meet the desig
n requireme
nts are give
n prefere
nce for sta
ndard parts. O
n the basis of calculatio
n a
nd desig
n of ma
nipulator structure, the three-dime
nsio
nal modeli
ng of ma
nipulator, wrist rotatio
n structure, telescopic lifti
ng structure of ma
nipulator arm a
nd guide mecha
nism usi
ng SolidWorks software was completed. Key words：Robot,P
neumatic tra
nsmissio
n Solidworks, 3D modeli
ng,Stampi
ng 目录 1.绪论1 1.1前言1 1.2国内工业机械手现状1 1.3国外工业机器人现状2 1.4项目意义2 2.机械手结构设计4 2.1机械手基本形式的选择4 2.2驱动机构的选择4 2.3整体结构的设计4 3.手部设计6 3.1手部结构分类6 3.2夹持式手部设计的基本要求6 3.3手部驱动力计算6 3.4气缸直径计算9 3.5校核活塞杆强度11 3.6活塞杆技术要求11 3.7夹紧气缸缸筒壁的设计计算11 3.8气缸技术要求12 3.9活塞技术要求12 3.10气缸缓冲计算13 4.吸盘机械手15 4.1吸盘机械手概况15 4.2喷气式气流负压式吸盘原理16 4.3计算吸盘的直径17 5.手腕设计18 5.1机械手手腕结构设计18 5.2叶片式摆动马达结构原理18 5.3手腕摆动气缸的驱动力矩计算19 5.4手腕转动所需的实际驱动力19 6.手臂设计22 6.1机械手臂结构设计22 6.2机械手臂伸缩设计22 6.3机械臂的导向设计23 6.4机械手臂驱动力计算23 6.5伸缩气缸校核计算25 6.6缸筒壁厚计算26 6.7活塞杆直径的计算26 6.8机械手臂的升降以及回转结构27 6.9伸缩气缸驱动力计算28 6.10升降气缸的直径计算28 6.11缸筒壁厚计算30 7.辅助结构设计31 7.1机械手转动的缓冲结构示意图31 7.2气压控制原理31 7.3模拟机械手的工作流程32 结论34 参考文献35 附录1.外文翻译36 附录2.外文原文44 致谢55