机械5

摘要 本文研究对象压铸产品取件机器人本质上是一种串联机器人，其主体结构分别为机械臂安装的底座机构，多个运动关节模组机构组成的串联机械臂及末端夹持执行机构。压铸产品取件机器人各关节主体零件大多数采用复杂形状的大铸件，一些辅助零件比较小且数量多，机械臂一体式的结构增强了整个串联机械臂的强度和刚度；在驱动布局上，相邻两轴的电机安装于同一轴部的主体零件上，极大的提高了动力的传递效率；六自由度取件机器人末端设计一种气动机械爪，极大的提高机器人的工作空间和抓取效率。本文具体研究内容如下： 首先，根据工作空间和自由度的要求，在满足各个运动构件的参数要求情况下，设计压铸产品取件机器人的总体机械结构方案； 其次，根据工作要求和性能指标要求，对压铸产品取件机器人的抓取运动进行轨迹的规划和设计； 最后，根据技术参数和性能指标要求，绘制压铸产品取件机器人的二维装配图，并对压铸产品取件机器人中的传感器、驱动装置等设备进行选型和设计。 关键词：压铸产品取件机器人方案设计轨迹规划样机模型 ABSTRACT I
n this paper, the flexible ma
nufacturi
ng system pick-a
nd-place ma
nipulator is esse
ntially a series robot,whose mai
n structure is the base mecha
nism of the mecha
nical arm i
nstallatio
n, the series mecha
nical arm composed of multiple movi
ng joi
nt module mecha
nisms a
nd the e
nd clampi
ng actuator. Flexible Ma
nufacturi
ng System The mai
n body parts of the pick-a
nd-place ma
nipulators mostly use large casti
ngswith complex shapes. Some auxiliary parts are relatively small a
nd
numerous. The i
ntegrated structure of the mecha
nical arms e
nha
nces the stre
ngth a
nd rigidity of the e
ntire series of mecha
nical arms. I
n the drive layout, the motors of two adjace
nt axes are mou
nted o
n the body parts of the same shaft. The specific research co
nte
nt of this paper is as follows: Firstly, accordi
ng to the requireme
nts ofworki
ng space a
nd degree of freedom, the overall mecha
nical structure scheme of the flexible ma
nufacturi
ng system pick-a
nd-place ma
nipulator is desig
ned u
nder the co
nditio
n that the parameters of each movi
ng compo
ne
nt are met. Seco
ndly, accordi
ng to the requireme
nts ofwork a
nd performa
nce i
ndicators, the trajectory pla
n
ni
ng a
nd desig
n of the grabbi
ng moveme
nt of the flexible ma
nufacturi
ng system. Fi
nally, accordi
ng to the tech
nical parameters a
nd performa
nce i
ndex requireme
nts, draw a three-dime
nsio
nal assembly drawi
ng of the flexible ma
nufacturi
ng system pick-a
nd-place ma
nipulator, a
nd select a
nd desig
n the se
nsors, drivi
ng devices a
nd other equipme
nt i
n the flexible ma
nufacturi
ng system. Keywords: flexible ma
nufacturi
ng system pick-a
nd-place ma
nipulator；scheme desig
n；trajectory pla
n
ni
ng；prototype model 目录 摘要I ABSTRACT II 第1章绪论1 1.1研究的背景及目的1 1.2国内外压铸产品取件机器人研究现状1 1.3本课题研究的意义3 1.4本章小结3 第2章压铸产品取件机器人的方案设计4 2.1设计要求4 2.2压铸产品取件机器人原理介绍4 2.3设计内容5 第3章样机设计6 3.1气动抓取机构设计6 3.2底座设计6 3.3机械臂设计7 3.4整机设计8 第4章样机轨迹规划与部件选型10 4.1机械臂轨迹规划10 4.2转动惯量及重力矩计算11 4.3驱动电机和减速器选型计算13 4.3气缸选型16 第5章压铸产品取件机器人仿真分析17 第6章工程定额预算21 6.1压铸产品取件机器人制造的成本预算21 6.2压铸产品取件机器人制造对环境的影响21 6.3压铸产品取件机器人的社会效应22 结论23 参考文献24 致谢26