發(fā)布時間：2018-10-25 06:37

【摘要】：本設計研究的內(nèi)容是來源于某企業(yè)一生產(chǎn)流水線上搬運工料的項目。根據(jù)企業(yè)的計劃書,設計出一種適用于該生產(chǎn)線上工作的機械手。工業(yè)機器人作為近些年飛速起步的高新技術產(chǎn)品,它在各大領域應用廣泛。在我國,本土的機械手企業(yè)們在面對著占據(jù)極大市場份額的大量優(yōu)秀的國外企業(yè),具有非常嚴峻的競爭壓力。如今我國正在從一個"制造大國"向"制造強國"轉(zhuǎn)型,中國制造業(yè)必將與國際接軌,自動化水平提高迫在眉睫,機械手的發(fā)展必將為工業(yè)化注入新的血液。由于液壓驅(qū)動相對其他驅(qū)動方式具有負載大,工作可靠的特點。所以本課題設計的機械手采用液壓驅(qū)動來作為它的驅(qū)動方式。在綜合各方面因素以及用戶所要求的基礎上,再根據(jù)企業(yè)需求及現(xiàn)實情況本設計總體方案是采用四自由度的機械手,主要通過CATIA軟件對機械手的構件進行三維建模。具體分析了運動原理和工作循環(huán),完成了液壓系統(tǒng)的設計,如液壓執(zhí)行元件驅(qū)動力的計算;對液壓缸壓力與流量的計算以及液壓缸的選型等;繪制出液壓系統(tǒng)原理圖;對液壓元件如液壓泵,管道,油箱的計算與選取;對液壓系統(tǒng)工作性能的驗證;用AMESim對液壓系統(tǒng)進行動力學分析;對機械手建模并且運用ADAMS對其開展運動學仿真以確保設計的可行性。
[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.
【學位授予單位】：安徽理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP241

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