A装配体
搬运机械手夹吸一体的末端机构设计
摘要
搬运机器人作为一种典型的工业机器人，广泛应用与各行各业，在技术不断地发展、创新过程中，向其他领域不断延伸。且伴随着自动化水平的不断提高，以及社会对其关注度不断提升，对其柔性、作业能力、专一性以及智能性等都提出了更高的要求。因此本文主要针对搬运机器人专一性进行创新研究，使得搬运机器人适合更加复杂环境，以及更加可靠。
一般的搬运机器人主要工作段是类似爪子形状，在搬运环境复杂的情况下容易导致货物滑落，造成不必要的损失以及降低工作效率，提高生产成本，针对这种情况在原有的情况下对搬运机器工作末端的机械手进行创新改进，改变搬运机器人搬运货物过程中造成的不必要损失，提高效率、在一定程度上降低成本。
本设计采用夹吸一体化设计，相对于对一般机器夹爪，提高搬运机器人机器的可靠性，提高搬运机器人在运行中的效率。本文根据现场的搬运情况及出现的问题,，针对性解决现场对机器人的细节要求设计了搬运方案,经过分析夹吸一体搬运机器人在工作中更加高效、可靠、节省成本。
关键词：搬运；机器人；夹爪；吸盘；设计
Abstract
As a typical industrial robot, carrying robot is widely used in all walks of life. In the process of continuous development and innovation of technology, it is constantly extended to other fields. With the continuous improvement of automation level and the increasing attention from the society, higher requirements have been put forward for its flexibility, operational capability, specificity and intelligence. Therefore, this paper mainly focuses on the carrying robot specificity for innovative research, so as to make the carrying robot suitable for a more complex environment, as well as more reliable.
General handling robot main segment is similar to claw shape, in handling complex environment is easy to cause the goods under the condition of slide, cause unnecessary losses and reduce work efficiency, increase the production cost, for this kind of situation in the original case for handling the machine work at the end of the manipulator for innovation improvement, change the handling robot unnecessary loss caused in the process of handling the goods, increase efficiency, to a certain extent, reduce the cost.
This design adopts the integrated design of clamping and suction, which improves the reliability of the handling robot machine and the efficiency of the handling robot in operation, compared with the clamping claw of the general machine. In this paper, according to the handling situation and problems on the spot, a handling scheme is designed to solve the detailed requirements of the robot on the spot. After analysis, the grip-and-suction integrated handling robot is more efficient, reliable and cost saving in the work.
Key words:Handling; Robot; Grip; Suction cup;Design
目录
1引论1
1.1研究背景与意义1
1.2国内外研究进展1
1.3技术路线2
1.4主要研究内容3
2总体结构设计4
2.1执行机构坐标形式选择4
2.2执行机构的组成5
2.3执行机构各部分的分析与选择5
2.4执行机构的工作原理7
2.5执行机构简图7
2.6其他连接和执行部分8
3校核14
3.1夹爪行程校核14
3.2拉杆力的校核16
3.3吸盘校核17
4仿真19
4.1夹爪仿真19
4.2关键零件应力分析21
4.3吸盘吸附有限元分析25
4.4夹吸一体受力分析26
5结语27
5.1结论27
5.2展望27
参考文献28
致谢29
卡簧
夹爪
字数
导轨
拉杆
摘要
滑块
盖板
目录
短轴
箱体
设计所包含文件
连杆
酸奶盒
长轴
