机械制造及自动化专业毕业论文--苹果分类包装机械手传送机构及抓取部分设计.docVIP

摘要 本文从生产实际要求出发，在对苹果生物学特性及传送方式进行深入研究的基础上完成了苹果传送机构和四自由度苹果分类搬运机械手抓取部分的结构设计。选取了合理的传送电机，确定了传送机构的主要尺寸，选择了机械手的坐标形式；设计了机械手的手部结构；选择了机械手的传动方式；使用了合理的手指结构；根据各部分气缸所需的驱动力，确定出手指主要尺寸。对单、双支点回转型手指的夹持误差分析比较后，选用单支点回转型手指；在手部驱动杆运动时，通过两次夹持不同直径的苹果来确定手部滑槽的长度。研究设计完成后的系统减小了对苹果表皮的损伤，智能化程度较高。机械手具有运动灵活，占地面积小，操作简便等优点，因此，适宜于中小规模的水果分类搬运。 关键词：苹果包装；机械手；传送机构 ] ABSTRACT This paper set out from the practical production,completed the design of structure of apple transport mechanism and the four freeness degree manipulator which used to class and transit apples on the base of doing deeply study to apple’s biologic characteristic and carrying style. Selected a reasonable Motors for transmission, Calculated and determined main size of the transmission body. Chosen the coordinate form, designed the hand frame and selected the transmission way of the　manipulator;made use of the reasonable finger frame;According to the drive power which each parts of air cylinders needed, Calculated and determined the main size of the　finger. Determined use the single fulcrum gyration finger to be　more reasonable after the analysis of grasp error between the single fulcrum gyration finger　and the double fulcrum gyration finger. When the driving pole of hand is moving,the length　of runner can be counted through grasp different diameter apples two times.　The completing research design system decreased the injury to the apple epidermis, and the intelligent degree was higher. The manipulator has the merits of the vivid movement, small covered area, and simple operation etc.Therefore, it suitable to the small-scale fruit when classification and transporting. Key Words：Packaging of appleManipulator，ransport mechanism 目录 摘要 I ABSTRACT II 目录 III 第一章　绪论 1 1.1苹果分类包装机械的发展现状 1 1.2机械手的概述 1 1.3机械手的组成及其分类 2 1.4系统的工作任务 4 1.5研究目的和意义 6 第二章　机械手的功能分析及总体设计方案 7 2.1机械手的坐标型式与自由度的选用 7 2.2机械手的结构方案设计 7 2.3机械手的驱动方案设计 7 2.4机械手的主要参数 8 2.5苹果表面受力参数 9 第三章　机械手手部设计 11 3.1手部的种类及设计注意事项 11 3.2手指的抓取机能及手指尺寸的计算 13 3.3滑槽尺寸的确定 21 3.4手部夹紧气缸的选择 23 第四章 苹果传送机构的设计 32 4.1传