《机械手-电器元件插装机器人结构设-毕业论文》.doc

摘要 本文在参考现代工业机器人领域先进设计理念和技术的基础上，对电器元件插装机器人进行了机械结构及控制方式的设计，同时，对传动方式和控制系统进行了研究和分析。 “电器元件插装机器人”来源于生产实际需要，具有高精度高效率的特点，从而必将推动电子信息制造业的发展。 本论文主要做了移动定位部分的方案设计，部件的结构设计，机械手臂部及夹持器部分的结构设计。系统通过滚珠丝杠把动力传给工作台，并使被加工工件在两轴方向上沿导轨并在其行程范围内做自由运动。机械手手臂采用液压缸来实现伸缩和回转运动。在结构设计上，采用精密滚珠丝杠传动，它的传动精度高，无侧隙，刚性高；采用滚动导轨导向，它能实现无间隙轻力传动，而且承载能力大。液压伸缩缸和摆动缸的配合使用使机械手臂的控制简单可靠。这些特征都使系统性能得到提高。在结构设计的基础上，本文还对控制手臂运动的液压回路进行了设计。 关键词： 移动定位 滚珠丝杠 步进电机 液压缸 ABSTRACT On the base of reference the advanced design concepts and technologies which are about the field of modern industrial robots, this paper design the mechanical structure and control ways of on the plug-in electrical components of the robot. At the same time, learn and analysis the driving method and control system. Plug-in electrical component robot originates from the needs of actual production, the characteristics of it are high-precision and high efficiency. This will promote the development of electronic information manufacturing industry. In this paper, the main job is the design of mobile positioning mobile , the structural of components, mechanical arm and the department of gripper .The system drives the power to the working table through the ball screw, so that the is processed in two directions along the rail axis, do the Freedom workpiece Movement in the range of it’s trip. Using the hydraulic cylinders Manipulator arm can achieve the movement of telescopic and rotary. In the design of structural, it uses the transmission of precision ball screw. Precision ball screw has high accuracy, no backlash, high rigidity. Using the guide of rolling-oriented will realize seamless transmission of light power and the capacity of carrying is strong. The cooperation of telescopic hydraulic cylinder and the cylinder makes the control of the mechanical arm simple and reliable. All of these features can improve the performance of system. Based on the design of structural, the ar