车床上下料气动机械手设计含5张CAD图带开题
车床上下料气动机械手设计含5张CAD图带开题,车床,上下,气动,机械手,设计,cad,开题
第一章 概述 1. 1机械手的发展历史人类在改造自然的历史进程中,随着对材料、能源和信息这三者的认识和用,不断创造各种工具(机器),满足并推动生产力的发展。工业社会向信息社会发展,生产的自动化,应变性要求越来越高,原有机器系统就显得庞杂而不灵活,这时人们就仿造自身的集体和功能,把控制机、动力机、传动机、工作机综合集中成一体,创造了“集成化”的机器系统机器人。从而引起了生产系统的巨大变革,成为“人机器人劳动对象”,或者“人机器人动力机工作机劳动对象”。机器人技术从诞生到现在,虽然只有短短三十几年的历史,但是它却显示了旺盛的生命力。近年来,世界上对于发展机器人的呼声更是有增无减,发达国家竞相争先,发展中国家急起直追。许多先进技术国家已先后把发展机器人技术列入国家计划,进行大力研究。我国的机器人学的研究也已经起步,并把“机器人开发研究”和柔性制造技术系统和设备开发研究等与机器人技术有关的研究课题列入国家“七五”、“八五”科技发展计划以及“八六三”高科技发展计划。工业机械手是近代自动控制领域中出现的一项新技术,并已经成为现代机械制造生产系统中的一个重要组成部分。这种新技术发展很快,逐渐形成一门新兴的学科机械手工程。1. 2机械手的发展意义机械手的迅速发展是由于它的积极作用正日益为人们所认识:其一、它能部分地代替人工操作;其二、它能按照生产工艺的要求,遵循一定的程序、时间和位置来完成工件的传送和装卸;其三、它能操作必要的机具进行焊接和装配。从而大大地改善工人的劳动条件,显著地提高劳动生产率,加快实现工业生产机械化和自动化的步伐。因而,受到各先进工业国家的重视,投入大量的人力物力加以研究和应用。近年来随着工业自动化的发展机械手逐渐成为一门新兴的学科,并得到了较快的发展。机械手广泛地应用于锻压、冲压、锻造、焊接、装配、机加、喷漆、热处理等各个行业。特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中,机械手由于其显著的优点而受到特别重视。机床上料机械手是典型的机电一体化设备,它可自动地为机床抓取工件,取代操作人员频繁取料,降低劳动强度,提高工作效率。总之,机械手是提高劳动生产率,改善劳动条件,减轻工人劳动强度和实现工业生产自动化的一个重要手段,国内外都很重视它的应用和发展。1. 3机械手在机械制造中的应用1. 3.1国外应用美国制造155毫米的钢弹体洛克福特军械厂,从胚料加工开始到加工完毕直至弹体包装都自动进行,不用人手去接触,达到全自动生产。工业机械手还能用来代替人工进行打磨、抛光、去毛刺和清理切屑等工作。例如,瑞典一家工厂打磨和抛光不锈钢子弯头时,采用ASEA机械手,提高加工效率30%以上,而且产品质量稳定,不伤害工人。又如:瑞典沃尔沃(Valov)公司在机械手上装了三个环形磨轮装置,用来对传动箱外表面去毛刺,比手工方法节省工时50%。 1. 3.2国内应用 国内在金属切削加工中,用机械手来完成刀具的自动更换。如北京第二机床厂,北京第八机床厂,上海第二机床厂,上海第八机床厂,宁夏大河机床厂等单位研制的自动换刀机床,均用机械手自动更换刀具。在生产自动线上,用机械手完成的传递和上下料,如:沈阳水泵厂深井泵体加工自动线,无锡柴油机厂和甘肃汽车齿轮厂的齿胚的加工自动线都采用了机械手。大连工矿车辆厂的800Kg侧架的加工,采用机械手抓取、传递和安放并与一些机床组合成侧架切削加工自动线,提高效率10倍。1. 4机械手的发展趋势国内应加强机械手基础性能的实验以及基础理论研究,克服和解决制造技术及其它存在的问题。提高机械手运动速度。尤其是应用于冲压行业中的机械手,以适应提高生产率和符合生产节拍的需要。要研究解决机械手的运动速度和缓冲、定位技术。引进国外先进技术,培训专门技术人才,普及机械手有关知识。尽快解决机械手的定型设计、定点、定量生产以及配套件的生产和供应问题,推进机械手设计制造中的现代化(CAD/CAM)、标准化、系列化工作,以满足国内外市场的需求。目前工业机械手的应用逐步扩大,技术性能不断提高,其发展趋势是:扩大机械手在工业上的应用、提高工业机械手的工作性能、发展组合式机械手、研制具有“视觉”和“触觉”的“智能机器人”。14 第二章 工业机械手2.1 工业机械手的分类目前对机械手尚无明确的分类标准,全国各她区尚未统一,我们按目前应用比较多的两个方面进行分类:(一)按所搬运的工件重量(或称臂力)分类1.小型的臂力在1公斤以下;2.中型的-臂力在130公斤以内、3.大型的臂力在30公斤以上。目前大多数下业机械手其搬运的重量为中型的。 (二)按机能分类1 简易型通用机械手有固定程序和可变程序两种。固定程序由挡块或凸轮转鼓控制;可变程序用插销板来给定程序。这种机械手多为气动或液压驱动,结构简单,成本较低,改变程序较容易。只适用于程序较简单的点位控制,实现重复性操作作为一般单机服务的搬运工作也完全够。目前这种机械手数量最多。 2示教再现通用机械手 这种机械由人工通过示教装置领动一遍,或者予先操作给定一遍,称为示教。它由磁鼓(或磁带、磁芯)把程序记录下来,此后机械手就自动按记忆的程序,重复地进行鹅环动作。这种机械手多为电液伺服控制。与前者比较,这种机械手可有较多的自由度,有可能实现连续轨迹控制,能进行程序较复杂的作业,通用性较大。 3,具有视觉、触觉的通用机械手 这种机械手由电子计算机控制,装备有电视摄像管和传感器等,因而具有视觉、热感.触觉等。这种机械手我网日前还处于研制阶段。再次按使用范围,驱动方式和控制系统等进行分类。按使用范围分为专用机械手和通用机械手专业机械手:一般附属于工作机器设备,动作程序固定,驱动系统和控制系统可以独立,亦可附属于工作机器设备。通用机械手:独立工作的自动化机械设备。在规格性能的范围内,其动作程序是可变的,通过调整可在不同的场合使用,驱动系统和控制系统是独立的。按驱动方式分为液压机械手,气压机械手,电动机械手,机械式机械手。液压机械手:输出力大,传动平稳。如采用电液伺服机构,可实现连续轨迹控制。液压系统的密封要求严格,又问对油的粘度影响大。气压机械手:气源方便,输出力小,气压传动速度快,结构简单,成本低。但工作不太稳定,冲击大,在同样的抓重条件下它比液压机械手的结构大。电动机械手直接用直线电机,功率步进电机和具有特殊结构的感应电动机等来驱动,动力源简单,不需要能量装换机构,维护使用方便。目前这种工业机械手尚在发展之中。机械式机械手:由工作机构带动机械手运动,工作可靠,动作频率高,结构简单,成本低。但动作固定不可变。按控制系统可分为点位控制和连续控制点位控制:只能控制工业机械手运动的几个点的位置,运动轨迹不受控制。目前使用的专用和通用工业机械手均属于此类。连续控制:工业机械手按给定的速度沿给定的线路(轨迹)实现平稳准确的运动。特点是设定点时无限的,整个运动过程都要求处在控制之下。这来工业机械手一般采用小型计算机控制。 机械手的手部是用来抓取并握紧工件的,它包括手爪和夹紧装置两部分。夹持工件的迅速、灵活、准确和牢靠程度,直接影响到机械手的性能,是机械手的关键部件之一。2.2工业机械手的驱动方式 工业机械手的驱动方法,按驱动源分为气压驱动、液压驱动、电力驱动和机械驱功四种。2.2.1气压驱动气压驱动是一种简单、可靠.经济的驱动方式,是以压缩空气为动力沉来驱动机械手的执行机构,在机械加工行业中的机械手普遍采用气压驱动,用来完成零件的传送工作。(一)气压驱动的特点气压驱动的优点是;容易获得快速运动,机械手可引用一般工厂都有的压缩空气源,因此结构简单,成本低廉,空气不象油那样怕热和易燃;维修方使,特别是和射流控制很容易结台起来使用。其缺点是:气限低,出力小,执行机构体积人;压缩性大,阻尼缓冲效果差,较难实现中间位置的停止,若要求较高的定位精度,必须增设较复杂的缓冲、定位机构。(二)气动元件简介气动元件种类很多,应用范圈也各不相同。目前所谓气动元件,是指气压传动中应用的各种控制阀和执行元件。一般不包括空气压缩机。 1.气源三大件分水滤气器:功用是清除空气中的水、油及灰尘;调压阀、亦称减压阀,能将管道中的空气压力保持在某一定数值:油雾器:为保证气动装置可靠地工作,用压缩空气将油液喷成雾状,随空气一起流入气动装置,进行润滑。2.空气控制阀这是气动元件中主要的一大类,其功用是控制空气的压力、流量及流动方向,保证气动系统按规定的程序、速度进行工作。主要分为:(1)压力控制阀:包括压力顺序阀、卸荷阀等。(2)流且控制阀:包括节流阀、单向节流阀等。(3)方向控制阀。包括电磁换向阀、气动换向阀,电磁气阀、单向阀、梭阀、延时阀.脉冲阀等。(4)其他阀:包括各种手动阀、脚踏操作阀、气动开关、按钮、行程阀、转阀等。3.气缸作为气动执行元件,是一种重要的元件,一般分为单作用气缸和双作用气缸两种。其结构形式很多,可完成往复直线运动和摆动。4 气动马达 是实现旋转运动的执行元件。5气动逻辑元件这是近年来新发展的一种气动元件,带有可动部件,其作用类似继电器,可实现各种逻辑功能,直接对气动装置进行控制。其结构类似小型阀门。6.管路附件包括各种管接头、消声器、压力继电器、安个阀.压力表等。另外,还有一些气液装置,如气一液泵、气一液缸、气一液增压装置等,一般也属于气动元件的范围。2.2.2液压驱动在机械手中液压驱动是用的最多的方式。利用油缸、油马达和齿条齿轮实现直线运动,利用回转油缸、油马达与齿轮齿条或链轮链条实现回转运动。 (一)液压驱动的特点 1.液压驱动的优点 (1)压力高,油压可达10- I40公斤/厘米的压力。可以获得较大的操作力。(2)液体的压缩比较小,可以认为没有压缩性,因此控制系统的滞后也几乎没有,动作平稳,快速反应性好。 (3)压力、流量容易调节,控制性能好,可以实现中间位置的停止,定位精度高。(4)液压操纵装置形体小而且牢固,可耐振动和冲击。(5)可无级变速(6)液压油有良好的润滑性2 液压驱动的特点(1)需单独配备液压源(2)管线系统比较复杂,成本较高(3)液压系统的泄露会严重影响其使用性能(4)油的粘度对温度的变化敏感3液压系统的组成 1动力元件-油泵 2执行元件-油缸,油马达 3控制元件 各种控制阀等 4辅助元件-如邮箱,滤油器,油管和管接头等2.3 工业机械手的设计方法机械手的手部是用来抓取并握紧工件的,它包括手爪和夹紧装置两部分。夹持工件的迅速、灵活、准确和牢靠程度,直接影响到机械手的性能,是机械手的关键部件之一。2.3.1手部的设计手部的设计要求:1.手部应有足够的夹紧力,除工件的重力外,还要能不使工件在传送过程中松动或脱落;2.夹持范国要与工件相适应。手爪的张开角度(手爪张开或闭合时两个极限位置所摆动的角度 )应能适应夹紧较大的直径范围 ;3.夹持精度要高。既耍求工件在手爪内定位准确,又不夹坏工件表而。一般需根据工件的形状选择相应的手爪结构:如元住形工件应采用带V形槽的手爪来定位,对于工件表面光洁度较高的,应在手爪上镶铜、夹布胶木或其他软质垫片等;4.夹持动作要迅速、灵活;5.手部结构要简单紧凑,刚性好、自重轻、易磨损处应便于更换,在腕部或臂部上安装要方便,更换要迅速。手部结构手爪的类型大致分为下列三种:1.夹持式手爪,根据手爪的动作可分为回转型和平移型;根据手指的数量可分为双指和多指式;根据夹持工件的方法又可分为外卡式和内胀式两种。2.吸附式手爪。分为真空吸盘式和电磁吸盘式两种。真空吸盘式又分为真空泵式和气流负压式。3带触觉或视觉的手爪The first chapter overview1. 1 the development history of the manipulatorIn transforming the nature of human history, along with to the material, energy and information of all three know and use, constantly creates all kinds of tools (machine), meet and promote the development of productivity.Industrial society to the information society development, the production of automation, should be modified demand is higher and higher, the original machine system is not flexible, then confused people copy their collective and functions, to control machine, power machine and the motivation, work machine into a whole, comprehensive focus created integrated machine system-a robot. Which caused production systems huge transformation, become people-the robot-labor object, or people-the robot-work machine-power-labor object.Robot technology from birth to now, although only just 30 years of history, but it does show the vigorous vitality. In recent years, the world development calls for robot is unabated, developed countries, developing countries are scrambling JiQiZhiZhui. Many countries already has the advanced technology development in national plan, robot technology vigorous research. Chinas robotics research also has started and the development research and robot flexible production technology and equipment system development and robotics research topics listed in the national July 5, science and technology development plan and 863 high-tech development plan.Industrial manipulator is modern automatic control field appeared in a new technology, and has become the modern machinery manufacturing production system of an important component. This new technology develops very quickly, gradually formed a new discipline-manipulator engineering.1. 2 of the manipulator development significanceThe rapid development of the manipulator is because of its positive role is increasingly been recognized: firstly, it can partly replace artificial operation; Secondly, it can in accordance with the requirements of the production process, follow a certain procedure, time and location to complete the transfer and loading and unloading; Thirdly, it can operate the necessary tools to carry out welding and assembly. Thus greatly improve the labor conditions, significantly improve labor productivity and the realization of the industrial production mechanization and automation pace. Therefore, by the advanced industrial countries, pay attention to invest a lot of manpower material resources to research and application.In recent years with the development of industrial automation manipulator gradually become a new discipline, and the rapid development. Manipulator is widely used in forging press, stamping, forging, welding, assembling, and machining, paint, heat treatment, and other industries. Especially in heavy, high temperature, toxic and dangerous, radioactive, many dust etc of bad labor environment, due to its advantages of significant manipulator by special attention.Machine feeding manipulator is typical of electromechanical equipment, it can automatically grab for machine tools, to replace the operators frequently take material, the reduction of labor intensity, improve work efficiency.In short, manipulator is to improve labor productivity, improve working conditions, and to reduce the labor intensity and realize industrial production automation one of the important means for both at home and abroad, have paid great attention to the development and application of it.1. 3 The three robots machinery manufacturing application1. 3.1 foreign applicationsThe United States manufacturing 155 mm steel projectile Locke wrought-iron ford, from embryos materials processing start to processing finished until the body is automatic packaging, need not hand to contact, achieve automatic production.Industrial robot can also be used to replace artificial for grinding, polishing, deburring and clean up scraps, etc. For example, a Swedish factory grinding and polishing stainless steel, the elbow son manipulator, the improvement of the machining efficiency ASEA 30% above, and the product quality is stable, does not damage the workers. And as: Sweden (Valov Volvo) in manipulator mounted three circular grinding device used to on the transmission box outside surface deburring, than manual method saves hours 50%.1. 3.2 domestic applicationIn domestic metal cutting, with the robotic arm to complete the change automatic cutting tools. Such as Beijing second machine tool plant, Beijing, Shanghai second machine tool plant 8 machine tool plant, Shanghai machine tool plant in ningxia, the eighth unit such as machine tool plant developed automatically change the knife machine tool, all use manipulator change automatic cutting tools. In the production automatic line, with the transfer and complete manipulator unloading material, such as: shenyang pump factory deep well pumps body processing automatic line, wuxi diesel factory in gansu province and the companys tooth of embryo transfer machine processing using manipulator. Dalian CheLiangChang mining of 800 Kg side frame of processing, using manipulator grab, transfer and placed with some combination machine tools and into the side frame cutting processing automatic line, improve efficiency 10 times.1. 4 And the development trend of the manipulatorChina should strengthen the basic properties of the manipulator experiment and basic theory research, overcome and solve manufacturing technology and other problems. Improve the manipulator speed. Especially used in stamping industry, in order to adapt to the manipulator to improve productivity and meet the needs of the production of the beat. To study and solve the rate of movement of the manipulator and buffer, positioning technology. The introduction of foreign advanced technology, training specialized technical personnel, popularize knowledge about manipulator. As soon as possible to solve the manipulator modular design and the designated, quantitative production, and the production and supply of parts, to push forward modernization in the design and manufacture of manipulator (CAD/CAM), standardization and serialization work, at home and abroad to meet the demand of the market. At present the application of industrial robots gradually expand, technical performance, improve its development trend is: expanding the industrial application of manipulator, improve industrial manipulator work performance, development, research and develop a combined manipulator vision and touch intelligent robot.The second chapter industrial robots2.1 the classification of industrial robotAt present there is no explicit manipulator classification standards, all the country she area, we have not agreed on at present application more of the two aspects of classification:(a) to carry the weight of (or throwing arm) classification says1. Small-arm strength in 1 kg the following;2. Medium-arm strength in 1 30 kilograms, within3. Large-in more than 30 kilograms arm strength.Most current under the weight of the manipulator handling industry for medium.(2) according to the function classification1 simple type general manipulatorA fixed and variable program two kind of program. Fixed procedure block piece or by CAM drum control; Variable program with latch plate to the given program. This manipulator for pneumatic or hydraulic drive more, simple structure, low cost, the change process easier. Only applies to the program is simple, repetitive operation position control to realize as a general movement also single service is well. Currently the largest number manipulator.2 and teach reproduce general manipulatorThis machine by artificial through the demonstration device brought move again, or to operate a given first again, called the demonstration. It consists of a drum (or tape, magnetic cores) program down, then automatically according to the memory of the manipulator program, to repeat goose annulus movement. This manipulator electro-hydraulic servo control for more. Compared with the former, this manipulator can have more freedom, may achieve continuous track control, able to program more complex operation, general larger.Three, has the sense of touch, general manipulatorThe electronic computer control, by manipulator equipped with television camera tube and sensor etc, thus has the visual, burns. Touch, etc. This manipulator I nets prior to in the development stage.Again, driving way to the using range and control system of classification.According to use scope is divided into special manipulator and general manipulatorProfessional manipulator: generally attached to the machine equipment, action program fixed, driving system and control system can be independent, and may also be attached to the machine equipment.General: independent work the automation of the manipulator mechanical equipment. At the specifications, within the scope of the performance of the program is variable, and action by adjustment can be used in different occasions, driving system and control system is independent.According to the driving way into hydraulic pressure manipulator, manipulator, electric manipulator, mechanical manipulator.Hydraulic manipulator: output force large and stable transmission. If use electro-hydraulic servo mechanism that can be realized for the track control. Hydraulic system strictly, and ask the sealing requirements on oil viscosity influence.Air pressure manipulator: convenient, output force air small, pneumatic transmission speed, simple structure, low cost. But the work is not so stable, impact, in the same catch heavy conditions than hydraulic structure of the manipulator it.Electric manipulator direct linear motor, with power stepping motor and with special structure of the induction motor drive, such as power supply is simple, do not need energy outfit in institutions, maintenance is convenient to use. The current industrial robots is still in the developing.Mechanical robot drives the manipulator by a working, reliable, action sports high frequency, simple structure, low cost. But action not variable fixed.According to the control system can be divided into position control and continuous controlPosition control: can only control industrial robots sport at the point of a few trajectory, had no control. Current use of special and general industrial robots all belong to such.Continuous control: according to the given velocity industrial robots along a given line (track) to realize smooth accurate movement. Characteristic is set point of infinite, the whole movement when all requirements in the process under control. This to industrial robots generally USES the small computer control.The manipulator hand is used to grab and hold the hand, it includes claws and clamping device two parts. Clamping workpiece quickly, flexible, and the accurate and reliable degree, directly affects the performance of the manipulator, is one of the key components of manipulator.2.2 industrial robots drive modeIndustrial robots driver technique in pneumatic driving, driving the source into hydraulic drive, electric drive and mechanical drive power four.2.2.1Section 2.3.1 for ammeters pneumatic drivePneumatic drive is a simple, reliable. Economic drive mode, is the compressed air is the power to drive the sink of the manipulator actuators, mechanical processing industry in the widespread use of the manipulator pneumatic driving, to complete the transmitting parts.(a) the characteristics of the pneumatic driveThe advantages of the pneumatic drive is; Easy to achieve a rapid movement, manipulator can be cited general factory are some compressed air source, so simple structure, low cost, and the air is not like oil that fear of heat and flammable; Maintenance party make, especially and jet control is easy to sets up use. Its defect is: gas, the output, low limit small volume actuators; Large compressibility, damping buffer effect is poor, difficult to carry out the middle of stop, if demand higher precision, must add more complex buffer, positioning.(2) pneumatic components profilePneumatic components is a lot of more phyletic, the application of the fan circle are also different. At present, it is to point to the so-called pneumatic components of the application of all kinds of pneumatic transmission control valves and execution element. Generally does not include air compressor.1. 3 big sourceWater filter the function is clear: the gas in the air and water, oil, and dust;Governing valve, also say the pressure reducing valve, can will air in the pipeline pressure kept in a certain numerical:Oil sprayer: to ensure reliable work, pneumatic device with compressed air will spray mist shape into oil, together with the air flow into pneumatic device for lubricant.2. This is air control valves pneumatic components main a major categories, its function is to control the air pressure, flow and flow direction, ensure pneumatic system according to the stipulated procedures, speed.Mainly divided into:(1) pressure control valves: including pressure order valve, unloading valve, etc.(2) flow and control valves: including the throttle valve, one-way throttle valve, etc.(3) the direction control valves. Including electromagnetic reversing valves, pneumatic reversing valves, electromagnetic valve, check valve, spindle, YanShiFa. Pulse valve, etc.(4) other valve: including all kinds of manual valve operation, foot valve, pneumatic switch, button, trip turn valve, valve, etc.3. Cylinder as pneumatic actuators, is a kind of important components are generally divided into the single-acting cylinder and the cylinder dual action of two. The structural forms a lot, can complete reciprocating linear motion and swinging.4 pneumatic motor rotation movement is to realize the actuators.5 pneumatic logic element is this new development in recent years of a pneumatic components, with the moving parts, the role similar, and it can realize relay all kinds of logic function of pneumatic device, direct control. Its structure similar to small valve.6. Pipeline fittings including all kinds of tube fittings, muffler, pressure relay, Ann a valve. Pressure gauge, etc.In addition, there is some gas to liquid device, such as a gas pump, a liquid cylinder, gas gas a liquid pressurization device etc, general also belongs to the scope of the pneumatic components.2.2.2 hydraulic driveIn mechanical hand hydraulic drive is use most of the way. Use oil cylinder, motor oil rack and realize, linear motion by rotary oil cylinder, motor and oil super-modulus gear or chain sprocket realize sport. Turn(a) the characteristics of the hydraulic drive1.
收藏