毕业设计（论文）-壳体支撑与驱动机构设计.docVIP

摘 要 本文针对回转壳体内粘贴胶片的接触性操作，设计一个壳体支撑与驱动机构，此机构可以适用于几种不同型号壳体的旋转、移动、定位等操作，同时配合机械手来完成此任务。 设计的机构主要包括壳体支撑工作台、轴向和径向的限位机构、调节壳体的中心距装置等部件。重点对驱动壳体的摩擦轮压紧力进行了计算校核，避免驱动过程中的打滑。另外，模拟直角坐标机器人的移动，设计了丝杠加直线导轨的传动方式保证壳体垂直方向的移动。针对壳体旋转中精度不太高的要求，设计链传动方式驱动壳体摩擦轮。为了适用不同型号的壳体的胶片粘贴要求，设计灵活、方便的限位装置对壳体限位。系统中选用了高精度的伺服电机和减速器来保证精度，实现壳体准确的移动和定位。最后对系统中各个部件的刚度、强度等性能指标进行校核。 关键词：自动置片系统；直角坐标机器人；回转壳体；打滑 Abstract This paper mainly deals with the contacting operation of stick colloid inside the rotary hull. Based on that, a hull supporting and driving mechanism is designed. It can be applied in different types of hull operation, such as spinning, moving and locating. Meanwhile, there should be the cooperation of the robot manipulator. The mechanism mainly comprises of the units like hull supporting platform, axial and radial spacing mechanism and hull device measuring centre distance and so on. The main focus in this paper is the calculation and examination of the friction pulley clamping forces of the driving hull, so that to avoid the skid in the process of driving. In addition, simulating the moving of Cartesian robot, the transmission of master screw plus linear guide way is designed to make sure the hull’s upright moving. Since precision of hull spinning is not so demanding, the chain drive mode is designed to drive the hull friction pulley. In order to meet the needs of different types of hull film, agile and convenient spacing mechanism is designed to limit the hull. In this system, high precise servo-motor and reduction gear are chosen to guarantee the exact moving and locating. In the end, every unit’s stiffness and strength is check up as guideline in the whole system. Keywords: Automatic sticking-colloid system; Cartesian robot; Rotary hull; Skid 目 录 摘要 Ⅰ Abstract ........Ⅱ 1 引言 1 1.1 课题背景和意义 1 1.2 国内外研究现状 1 2 壳体和支架机构的总体设计 3 2.1 本次课题的主要内容 3 2.2 课题研究方案 3 3 摩擦轮的设计 4 3.1 摩擦与打滑 4 3.2 传动比 4 3.3 设计思想 4 3.4 摩擦轮的设计与计算 5 3.4.1 壳体的受力分析 5 3.4.2 滚子的受力分析 6 3.4.3 滚子的质量及壳体的驱动力F 6 3.4.4 滚子旋转驱动电机的选择 7 4