毕业论文三自由度工业机械手设计.docx

机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化 装置，由其控制系统执行预定的程序实现对工件的定位夹持。完全取代了人力，节 省了劳动资源，提高了生产效率。 本设计以实现铣床自动上下料为目的，设计了个水平伸缩距为200mm,垂直伸 缩距为200mm具有三个自由度的铣床上下料机械手。机械手三个自由度分别是机 身的旋转，手臂的升降，以及机身的升降。在设计过程中，确定了铣床上下料机械 手的总体方案，并对铣床上下料机械手的总体结构进行了设计，对一些部件进行了 参数确定以及对主要的零部件进行了计算和校核。以单片机为控制手段，设计了机 械手的自动控制系统，实现了对铣床上下料机械手的准确控制。 关键词：机械手；三自由度；上下料；单片机 Abstract Mani pulator , an automati on equipme nt with function of grabb ing and moving the workpiece ,is used in an automated product ion process .It perform scheduled program by the control system to realize the function of the positioning of the workpiece clamping. It completely replace the human, saving labor resources, and improve production efficie ncy. This design is to achieve milling automatic loading and unioading .Design a man ipulator with three degreesof freedom and 200mm horiz on tal stretchi ng dista nee, 120mm vertical telescopic dista nee. Three degrees of freedom of the man ipulator is body rotati on, arm moveme nts, as well as the moveme nts of the body .In the desig n process, determine the overall scheme of the milling machine loading and unioading manipulator and milling machine loading and unioading manipulator, the overall structure of the design parameters of some components as well as the main components of the calculati on and verificati on. In the means of Sin gle-chip microcomputer for con trolli ng, desig n the automatic con trol system of the man ipulator and achieve accurate con trol of the milli ng mach ine loadi ng and uni oadi ng. Key words: Mani pulator; Three Degrees of Freedom; Loadi ng and uni oad ing; si ngle chip microcomputer TOC \o 1-5 \h \z 摘要 I \o Current Document 第1章绪论 1 \o Current Document 1.1选题背景 1 \o Current Document 1.2设计目的 1 \o Current Document 1.3国内外研究现状和趋势 2 \o Current Document 1.4设计原则 2 \o Current Document 第2章设计方案的论证 3 \o Current Document 2.1机械手的总体设计 3 \o Current Document 2.1.1机械手总体结构的类型 3 \o Current Document 2.1.2设计具体采用方案 4 \o Current Document 2.2机械手腰座结构设计 5 \o Curren