混凝土喷射机械手分析.docxVIP

兰州工业学院毕业设计（论文）  PAGE \* MERGEFORMAT VI 摘 要 混泥土喷射机械手是代替人工抱喷嘴进行喷射作业的一种机械。为了较好地模仿人手的动作，喷射机械手一般要有六个自由度，及喷嘴划圆或摆动，左右旋转，前后仰俯，臂杆伸缩，升降，回转等。 这些动作是由喷头，伸缩臂，升降臂，回转和行走装置等几部分来实现的，其中喷头是一重要部分，因为它直接操纵喷嘴，与喷射质量有着密切的关系。本文主要讨论了混泥土喷射机械手的发展史以及对于其的工作原理做了较详细的介绍，并且对其的各个组成做了一一说明，对其它结构的性能和运动进行了阐述。喷头是喷射混凝土机械手的一个重要组成部分。对于喷头运动形式的选择、喷头变幅范围的计算和运动参数的确定等几个问题;推导了变幅范围的计算公式，对喷射机械手喷头的设计有一定指导意义。 关健词: 喷头，喷射混凝土机械手，变幅范围，运动参数 ABSTRACT The mixed soil spraying manipulator is a kind of machine that replaces the manual holding nozzle for spraying operation. In order to better imitate human hand movements, the jet manipulator generally have six degrees of freedom, and the nozzle is zoned circle or swing, around the rotation, forward and backward, boom, boom, rotation and so on. The action is composed of a spray head, telescopic arm, lifting arm, rotary and a driving device several parts to achieve, among which the sprinkler head is an important part, because it directly manipulating the nozzle and injection quality has a close relationship. In this paper, we mainly discuss the concrete spraying manipulator development history and for the working principle of the detailed introduction, and the various components do that one, of other structure performance and movement are described. The nozzle is an important part of shotcrete manipulator. For the problems of calculation and motion parameters of nozzle motion form selection, determination of the amplitude range of nozzle; derived the calculation formula of variable range, has a certain guiding significance for the design of spray nozzle manipulator. Key words: sprinkler; spray concrete manipulator; amplitude scope; the motion parameters 目 录 摘 要……………………………………………………………Ⅰ 1绪论………………………………………………………………1 1.1混泥土喷射机械手的概述……………………………………1 1.2混泥土喷射机械手的组成……………………………………1 1.3混泥土喷射机在国内外的发展历程…………………………2 1.3.1国外的混泥土喷射机发展的历史及现状…………………2 1.3.2混泥土喷射机在国内的发展………………………………3 1.4 课题研究的主要内容………………………………………4 2混泥土喷射机械手的设计方案………………………………6 2.1 混泥土喷射机械手的工作