1667-自動(dòng)換刀機(jī)械手,自動(dòng),機(jī)械手 沈陽(yáng)理工大學(xué)學(xué)士學(xué)位論文- i -摘 要在本論文中，首先扼要的介紹了自動(dòng)換刀裝置，以及將自動(dòng)換刀裝置發(fā)展成機(jī)械手的原因和機(jī)械手在生產(chǎn)中的作用；在第二部分中，介紹了工業(yè)機(jī)械手的組成和分類以及機(jī)械手的緩沖器與定位元件，并對(duì)機(jī)械手的手機(jī)身作了簡(jiǎn)單的介紹。在第三部分中我們分別就驅(qū)動(dòng)系統(tǒng)、控制系統(tǒng)、執(zhí)行系統(tǒng)論證了一些方案，并從中選出了一些合理的功能單元，最后進(jìn)行最佳方案的組合。經(jīng)詳細(xì)的技術(shù)評(píng)價(jià)與綜合方案評(píng)價(jià)后確定本論文中的方案一為最優(yōu)；由于整體設(shè)計(jì)的需要，我們選擇了液壓系統(tǒng)作為驅(qū)動(dòng)系統(tǒng)。一方面，液壓傳動(dòng)的速度快，反應(yīng)靈敏，傳動(dòng)平穩(wěn)；另一方面是其運(yùn)行精確，可以達(dá)到較高的定位精度。第四部分進(jìn)行了有關(guān)機(jī)械手的計(jì)算。第五部分介紹了我所設(shè)計(jì)的滑座伸縮和回轉(zhuǎn)機(jī)構(gòu)。第六部分我們對(duì)工業(yè)機(jī)械手的工作順序進(jìn)行了分析。第七部分我們敘述了未來(lái)機(jī)械手的發(fā)展趨勢(shì)。由此我們可以看到目前工業(yè)機(jī)械手的應(yīng)用在逐漸的擴(kuò)大，技術(shù)性能在不斷的提高。最后，我們記錄了心得體會(huì)。在設(shè)計(jì)中，我們參考了一些文摘并翻譯了一篇名為“Estimation of heat fluxes during high-speed drilling”的外文。關(guān)鍵詞： 機(jī)械手;液壓傳動(dòng);刀具沈陽(yáng)理工大學(xué)學(xué)士學(xué)位論文- ii -ABSTRACTIn this dissertation, the part one introduced concisely the set that can up or down cutter automatically and it gave the reason why we developed it into the manipulator and manipulator’s function in the production. In the second part, it introduced the integrant and assortment about the manipulator, then it told us what is the free degree and coordinate of the manipulator. In this section, we respectively demonstrated some plan carefully about drive-system, control system, actuator system, and then selected some reasonable plans of function unit from these. At last, we decided the best way. After evaluating the brief technology and general plans, we conducted that the plan A is the best. Because of the whole design’s request, we selected liquid-actuated system as actuator system. Because in one hand, the liquid-acetated is fast, reacts swift and drives steadily. On the other hand, for it has accurately movement and orientates precisely. The part three do some calculates about manipulator. The part four do some analysis on the manipulator’s operative order. The part five, we narrate the development tendency of the future manipulator. From the above, we can see that the application of the current industrial manipulator is expanded gradulately and the technologic capability is improved on and on. In addition,according to the information collected and the content of design, we made the animated on the basis of the cutter clear. Finally, we recorded our personal insight. We referred some literatures and translated an article named “Estimation of heat fluxes during high-speed drilling” from English into Chinese. Key words: manipulator, liquid-actuated system, and cutter沈陽(yáng)理工大學(xué)學(xué)士學(xué)位論文- iii -目 錄摘 要前 言 …………………………………………………………………………11 工業(yè)機(jī)械手的簡(jiǎn)介 …………………………………………………………21.1 工業(yè)機(jī)械手的組成 ………………………………………………………………21.2 工業(yè)機(jī)械手的分類方法簡(jiǎn)介 ……………………………………………………21.3 工業(yè)機(jī)械手的機(jī)身簡(jiǎn)介 …………………………………………………………21.3.1 設(shè)計(jì)機(jī)身應(yīng)注意的問(wèn)題 ……………………………………………………31.3.2 機(jī)身的結(jié)構(gòu)方案 ……………………………………………………………31.3.3 驅(qū)動(dòng)力的計(jì)算 ………………………………………………………………51.3.4 機(jī)身的方案評(píng)價(jià) ……………………………………………………………51.4 緩沖器與定位元件的設(shè)計(jì) ………………………………………………………51.4.1 機(jī)械手的運(yùn)動(dòng)特征 …………………………………………………………61.4.2 開(kāi)關(guān)型機(jī)械手的速度及位置控制 …………………………………………61.4.3 機(jī)械傳動(dòng)型機(jī)械手速度及位置控制 ………………………………………81.4.4 驅(qū)動(dòng)系統(tǒng)和電控系統(tǒng)的選擇 ………………………………………………82 自動(dòng)換刀機(jī)械手的總功能設(shè)計(jì) …………………………………………122.1 自動(dòng)換刀機(jī)械手的黑箱描述 …………………………………………………122.2 機(jī)械手功能單元的分類 ………………………………………………………123 自動(dòng)換刀機(jī)械手的方案確定 …………………………………………………133.1 總體的布置要求 ……………………………………………………………133.2 自動(dòng)換刀機(jī)械手各個(gè)部分的最終方案的確定 ………………………………133.3 自動(dòng)換刀機(jī)械手緩沖部分的原理 ……………………………………………17沈陽(yáng)理工大學(xué)學(xué)士學(xué)位論文- iv -4 液壓系統(tǒng)的設(shè)計(jì)與計(jì)算 ……………………………………………………184.1 結(jié)構(gòu)上的總要求 ………………………………………………………………184.2 設(shè)計(jì)液壓動(dòng)回路 ……………………………………………………………18 4.3 活塞桿的設(shè)計(jì)計(jì)算 ……………………………………………………………184.3.1 活塞桿的設(shè)計(jì) ………………………………………………………………194.3.2 液壓鋼壁厚計(jì)算 …………………………………………………………214.3.3 液壓機(jī)械手伸縮速度的控制 ………………………………………………214.3.4 回轉(zhuǎn)力矩的計(jì)算 ……………………………………………………………224.3.5 耗油量的計(jì)算 ………………………………………………………………224.4 自動(dòng)換刀機(jī)械手的液壓系統(tǒng) …………………………………………………235 伸縮回轉(zhuǎn)機(jī)構(gòu)設(shè)計(jì) …………………………………………………………………255.1 伸縮回轉(zhuǎn)結(jié)構(gòu)圖 ………………………………………………………………255.2 伸縮回轉(zhuǎn)機(jī)構(gòu)運(yùn)動(dòng)原理 ………………………………………………………276 自動(dòng)換刀機(jī)械手的自動(dòng)換刀過(guò)程 ……………………………………………286.1 自動(dòng)換刀裝置簡(jiǎn)圖及介紹 ……………………………………………………286.2 自動(dòng)換刀過(guò)程實(shí)例 ……………………………………………………………297 機(jī)械手的發(fā)展趨勢(shì) ……………………………………………………………………31致謝 …………………………………………………………………………33參考文獻(xiàn) ……………………………………………………………………34附 錄：外文翻譯