机械5

搬运机械手夹吸一体的末端机构设计 摘要 搬运机器人作为一种典型的工业机器人，广泛应用与各行各业，在技术不断地发展、创新过程中，向其他领域不断延伸。且伴随着自动化水平的不断提高，以及社会对其关注度不断提升，对其柔性、作业能力、专一性以及智能性等都提出了更高的要求。因此本文主要针对搬运机器人专一性进行创新研究，使得搬运机器人适合更加复杂环境，以及更加可靠。 一般的搬运机器人主要工作段是类似爪子形状，在搬运环境复杂的情况下容易导致货物滑落，造成不必要的损失以及降低工作效率，提高生产成本，针对这种情况在原有的情况下对搬运机器工作末端的机械手进行创新改进，改变搬运机器人搬运货物过程中造成的不必要损失，提高效率、在一定程度上降低成本。 本设计采用夹吸一体化设计，相对于对一般机器夹爪，提高搬运机器人机器的可靠性，提高搬运机器人在运行中的效率。本文根据现场的搬运情况及出现的问题,，针对性解决现场对机器人的细节要求设计了搬运方案,经过分析夹吸一体搬运机器人在工作中更加高效、可靠、节省成本。 关键词：搬运；机器人；夹爪；吸盘；设计 Abstract As a typical i
ndustrial robot, carryi
ng robot is widely used i
n all walks of life. I
n the process of co
nti
nuous developme
nt a
nd i
n
novatio
n of tech
nology, it is co
nsta
ntly exte
nded to other fields. With the co
nti
nuous improveme
nt of automatio
n level a
nd the i
ncreasi
ng atte
ntio
n from the society, higher requireme
nts have bee
n put forward for its flexibility, operatio
nal capability, specificity a
nd i
ntellige
nce. Therefore, this paper mai
nly focuses o
n the carryi
ng robot specificity for i
n
novative research, so as to make the carryi
ng robot suitable for a more complex e
nviro
nme
nt, as well as more reliable. Ge
neral ha
ndli
ng robot mai
n segme
nt is similar to claw shape, i
n ha
ndli
ng complex e
nviro
nme
nt is easy to cause the goods u
nder the co
nditio
n of slide, cause u
n
necessary losses a
nd reduce work efficie
ncy, i
ncrease the productio
n cost, for this ki
nd of situatio
n i
n the origi
nal case for ha
ndli
ng the machi
ne work at the e
nd of the ma
nipulator for i
n
novatio
n improveme
nt, cha
nge the ha
ndli
ng robot u
n
necessary loss caused i
n the process of ha
ndli
ng the goods, i
ncrease efficie
ncy, to a certai
n exte
nt, reduce the cost. This desig
n adopts the i
ntegrated desig
n of clampi
ng a
nd suctio
n, which improves the reliability of the ha
ndli
ng robot machi
ne a
nd the efficie
ncy of the ha
ndli
ng robot i
n operatio
n, compared with the clampi
ng claw of the ge
neral machi
ne. I
n this paper, accordi
ng to the ha
ndli
ng situatio
n a
nd problems o
n the spot, a ha
ndli
ng scheme is desig
ned to solve the detailed requireme
nts of the robot o
n the spot. After a
nalysis, the grip-a
nd-suctio
n i
ntegrated ha
ndli
ng robot is more efficie
nt, reliable a
nd cost savi
ng i
n the work. Key words:Ha
ndli
ng; Robot; Grip; Suctio
n cup;Desig
n 目录 1引论1 1.1研究背景与意义1 1.2国内外研究进展1 1.3技术路线2 1.4主要研究内容3 2总体结构设计4 2.1执行机构坐标形式选择4 2.2执行机构的组成5 2.3执行机构各部分的分析与选择5 2.4执行机构的工作原理7 2.5执行机构简图7 2.6其他连接和执行部分8 3校核14 3.1夹爪行程校核14 3.2拉杆力的校核16 3.3吸盘校核17 4仿真19 4.1夹爪仿真19 4.2关键零件应力分析21 4.3吸盘吸附有限元分析25 4.4夹吸一体受力分析26 5结语27 5.1结论27 5.2展望27 参考文献28 致谢29