發(fā)布時(shí)間：2018-06-21 01:57

  本文選題：轉(zhuǎn)軌機(jī)械手 + 結(jié)構(gòu)設(shè)計(jì)��； 參考：《合肥工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著我國生產(chǎn)制造業(yè)轉(zhuǎn)型升級(jí)的步伐加快,自動(dòng)化生產(chǎn)線應(yīng)用日益廣泛。工業(yè)機(jī)械手作為自動(dòng)化生產(chǎn)線的關(guān)鍵設(shè)備,其開發(fā)研究越來越受到重視。本文設(shè)計(jì)研究的轉(zhuǎn)軌機(jī)械手主要用于新能源汽車驅(qū)動(dòng)電機(jī)的自動(dòng)化裝配生產(chǎn)線中,可以實(shí)現(xiàn)電機(jī)轉(zhuǎn)子的自動(dòng)轉(zhuǎn)移拼裝,解決了人工搬運(yùn)效率低及穩(wěn)定性差等問題,加快了裝配線的生產(chǎn)節(jié)拍,提高了裝配線的自動(dòng)化程度。轉(zhuǎn)軌機(jī)械手的結(jié)構(gòu)創(chuàng)新和工作性能的研究對(duì)于提高自動(dòng)化裝配線的生產(chǎn)效率具有十分重要的意義。本文在研究以往機(jī)械手的基礎(chǔ)上,根據(jù)具體的應(yīng)用要求,設(shè)計(jì)了一種在豎直方向可以兩級(jí)升降的新型轉(zhuǎn)軌機(jī)械手。轉(zhuǎn)軌機(jī)械手整體上采用桁架式結(jié)構(gòu),其中豎直方向運(yùn)動(dòng)的機(jī)械臂采用內(nèi)臂和外臂相嵌套的結(jié)構(gòu),在外臂升降的過程中,利用同步帶拖動(dòng)內(nèi)臂運(yùn)動(dòng),達(dá)到了雙節(jié)倍速的效果。該創(chuàng)新結(jié)構(gòu)有效降低了機(jī)械手對(duì)空間的高度要求,增加了機(jī)械手的穩(wěn)定性。其次,本文研究了轉(zhuǎn)軌機(jī)械手的動(dòng)態(tài)性能。利用ABAQUS軟件對(duì)機(jī)械手的整體結(jié)構(gòu)進(jìn)行動(dòng)力學(xué)仿真,包括模態(tài)分析和諧響應(yīng)分析,獲得了機(jī)械手的低階模態(tài)振型和頻率響應(yīng)曲線。針對(duì)機(jī)械手的第3階固有頻率容易發(fā)生共振的情況,本文提出了對(duì)機(jī)械手立柱施加固定連接的優(yōu)化措施。經(jīng)過再次諧響應(yīng)分析,驗(yàn)證了優(yōu)化措施的有效性。最后,針對(duì)轉(zhuǎn)軌機(jī)械手應(yīng)用中的關(guān)鍵技術(shù),即同步帶傳動(dòng)的振動(dòng)特性研究,本文在理論分析同步帶不同振動(dòng)特性對(duì)機(jī)械臂穩(wěn)定性影響的基礎(chǔ)上,利用RecurDyn軟件構(gòu)建了基于有限段法的同步帶仿真模型。研究了其在不同張緊力作用下的運(yùn)動(dòng)過程,得到了同步帶的橫向振動(dòng)振幅曲線,為同步帶預(yù)緊力的設(shè)置提供了參考。
[Abstract]:With the accelerating pace of the transformation and upgrading of manufacturing industry in China, the application of automatic production line is becoming more and more widely used. As the key equipment of automatic production line, the development and research of the industrial manipulator have been paid more and more attention. The transfer manipulator designed in this paper is mainly used in the automatic assembly line of the drive motor of new energy vehicles, which can be real The automatic transfer and assembling of the current motor rotor has solved the problems of low efficiency and poor stability of manual handling, accelerated the production of the assembly line and improved the automation degree of the assembly line. The research on the structure innovation and working performance of the transition manipulator is of great significance for improving the production efficiency of the automatic assembly line. On the basis of the previous manipulator and according to the specific application requirements, a new type of switch manipulator is designed in the vertical direction which can rise and fall of two stages. The trussed structure is adopted as a whole, in which the vertical direction moving manipulator adopts the nested structure of the inner arm and the outer arm, and the synchronization is used in the process of the lifting of the outer arm. This innovative structure effectively reduces the height requirement of the manipulator and increases the stability of the manipulator. Secondly, the dynamic performance of the manipulator is studied in this paper. The dynamic mechanical simulation of the overall structure of the manipulator, including the modal analysis and the harmonious response, is used in the ABAQUS software. The low order mode vibration mode and the frequency response curve of the manipulator are obtained. In view of the case that the third order natural frequency of the manipulator is easy to resonate, this paper puts forward the optimization measures to apply the fixed connection to the mechanical hand column. After the re harmonic response analysis, the effectiveness of the optimization measures is verified. Finally, the application is aimed at the application of the transfer manipulator. The key technology, the vibration characteristics of synchronous belt drive, is based on the theoretical analysis of the influence of the different vibration characteristics of the synchronous belt on the stability of the manipulator. The simulation model of the synchronous belt based on the finite segment method is constructed by using the RecurDyn software. The motion process of different tension forces is studied, and the transverse direction of the synchronous belt is obtained. The vibration amplitude curve provides a reference for setting the pretightening force of the synchronous belt.
【學(xué)位授予單位】：合肥工業(yè)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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本文編號(hào)：2046668