1、河北科技师范学院 2011 届本科毕业设计说明书 1 毕 业 设 计 外 文 摘 要 Title Automated manipulator for assembly line Abstract With the social development and the continuous progress of industrial technology, manipulator has been widely used in production. Modern automatic control of industrial robots is a field of a new techno
2、logy. Because a positive development effects are becoming increasingly recognized: it is able to partly replace the manual operation； in accordance with production requirements, and directed by certain procedures, time and location to transfer or handle the workpieces. It is also e the necessary equ
3、ipment for welding and assembly. It has greatly improved the working conditions of workers, and significantly raised labor productivity, and promoted the automation of industrial production. This subject is about a manipulator used in production assembly line to complete assembly work. It is automat
4、ic controlled with multi-function, multi-degree of freedom .Its entire structure consists of the implementing agencies, drive system, control system and other components. The robot is formed by the six degrees of freedom: Wrist rotation, telescopic arm, arm pitching, waist rotating, boom lifting and
5、 longitudinal movement. It is hydraulic driven, controlled by programmable logic controller. Keywords： manipulator automation six degree-of-freedom assembly 河北 科技师范学院 2011 届本科毕业论文 2 目 次 1 绪论 1 1.1 概述 1 1.2 装配线机械手的定义及组成 1 1.3 装配线机械手在生产中的应用 2 1.4 装配 线机械手的发展方向 3 1.5 本章小结 3 2 总体方案设计与论证 3 2.1 设计背景 3 2.2 基本参数 4 2.3 自由度的布置 4 2.4 运动范围 5 2.5 驱动方式和传动方式的选择 5 2.6 各个自由度的实现 6 2.7 本章小结 7 3 各部分结构设计和尺寸确定及校核 7 3.1 手部设计 7 3.2 腕部回转油缸设计 7 3.3 小臂伸缩油缸设计 14 3.4 俯仰缸的设计计算 19 3.5 大臂回转缸的设计计算 23 3.6 大臂升降缸的设计计算 27 3.7 纵向移动油缸的设计计算 30 3.8 本章小结 32 4 液压控制系统的设计 32 4.1 换向回路 的确定 32 4.2 调速方案 的确定 33
