毕业设计说明书（论文）中文摘要摘要：本文主要进行了物料搬运机械手结构的设计。调查了国内外机械手发展的现状，了解了物料搬运机械手主要用于自动生产线上的上、下料。本机械手以交流伺服电机和气缸为动力源，交流伺服电机易于实现转速的控制，无杆气缸可以节省安装空间以及实现大行程。其工作方向为三个直线方向，以交流伺服电机驱动滚珠丝杠副使X、Y轴工作台做往复直线运动，以无杆气缸驱动Z轴工作台做上下往复直线运动，以及驱动气动手爪实现对物料的夹持。本文是对整个设计工作较全面的介绍、分析和总结。关键词：机械手结构设计电机气缸滚珠丝杠毕业设计说明书（论文）英文摘要TitleMaterialHandlingManipulatorStructureDesignAbstractThisarticlemainlyhascarriedonthestructureofthematerialhandlingmanipulatordesign.Investigatedthestatusofdevelopmentoftherobotathomeandabroad,tounderstandthematerialhandlingmanipulatorismainlyusedinautomaticproductionlineofupperandlowermaterial.Thismanipulatorbyacservomotorandcylinderaspowersupply,acservomotoriseasytorealizethespeedcontrol,rodlesscylindercansaveinstallationspace,andmakingabigtrip.Theworkingdirectionforthreestraightdirection,inordertoexchangetheservomotordrivenballscrewagreementX,Yworktabledoreciprocatinglinearmotion,driventorodlesscylinderZaxisworkbenchdoupanddownreciprocatinglinearmotion,anddrivegastoclawclampingofthematerial.Thispaperisacomprehensiveintroductiontothewholedesignwork,analysisandsummary.KeywordsManipulator;Structuredesign;Motor;Cylinder;Ballscrew目录前言....................................................................................................................1第一章绪论........................................................................................21.1工业机械手的应用...............................................................21.1.1工业机械手的应用简况......................................21.1.2机械手的应用意义.....................................................31.2工业机械手的发展...............................................................31.2.1工业机械手的发展历史......................................41.2.2机械手的发展趋势.....................................................51.3本文的结构....................................................................................7第二章物料搬运机械手总体设计方案.....................82.1设计目标...........................................................................................82.2总体方案分析.............................................................................82.2.1搬运机械手的组成.....................................................82.2.2机械系统设计分析.....................................................92.3物料搬运机械手的运动及驱动方式..............92.3.1机械手的运动...................................................................92.3.2机械手的驱动...............................................................10第三章机械系统的设计............................................................123.1气缸的选择.................................................................................123.2气爪的选择.................................................................................153.3丝杠的设计.................................................................................163.3.1Y轴丝杠的设计选型.............................................183.3.2X轴丝杠的设计选型.............................................203.4导轨的选择..............................................
