【正文】 滾珠絲杠壓桿穩(wěn)定性 cF 驗(yàn)算（ N） m a x242521 /10 aclc FLdKKF ??? 式 () 徐州工程學(xué)院畢業(yè)設(shè)計(jì) (論文 ) 22 式中 cF —— 臨界壓縮載荷， N 1K —— 安全系數(shù)，滾珠絲杠垂直安裝為 1/2，滾珠絲杠水平安裝 1/2 2K —— 支撐系數(shù) clL —— 滾珠絲杠最大受壓長(zhǎng)度 maxaF? —— 滾珠絲杠副所受最大軸向壓縮載荷， N 由于， Y 軸方向絲杠是水平安裝 3/11?K ；絲杠的支撐方式為兩端固定 22?K mm460?clL ； N246082033m a x ????? pa FF 0 94 6 0/???????? aclc FLdKKF 由于 maxac FF ?? ，因此符合校核要求。選擇最大距離的時(shí)刻來(lái)校核。（ 7）摩擦力矩。因?yàn)橹圃炀仍礁摺㈤L(zhǎng)徑比越大，工藝難度越大，成品合格率越低。但實(shí)際工作中 200400 毫秒是很快的速度，因此步進(jìn) 電機(jī)與伺服電機(jī)相比更加經(jīng)濟(jì)。 液壓容易達(dá)到較高的壓力，體積較小可以獲得較大的推力或扭矩；工作平穩(wěn)可靠。絲杠傳動(dòng)方式主要有梯形絲杠傳動(dòng)、滾珠絲杠傳動(dòng)、滑動(dòng)絲杠傳動(dòng)等。這種機(jī)械手結(jié)構(gòu)簡(jiǎn)單、成本較低，但精度不是很高，主要應(yīng)用于搬運(yùn)作業(yè)，其工作空間是一個(gè)類球形的空間。在現(xiàn)有機(jī)械手技術(shù)基礎(chǔ)上，確定了 小型零件裝配 機(jī)械手的基本系統(tǒng)結(jié)構(gòu)，對(duì)機(jī)械手的運(yùn)動(dòng)進(jìn)行了簡(jiǎn)單的力學(xué)模型分析，完成了機(jī)械手傳動(dòng)部分、執(zhí)行系統(tǒng)、驅(qū)動(dòng)系統(tǒng)等系統(tǒng)的相關(guān)徐州工程學(xué)院畢業(yè)設(shè)計(jì) (論文 ) 6 設(shè)計(jì)，并對(duì)機(jī)械手的控制技術(shù)進(jìn)行了一定的 設(shè)計(jì) 。例如關(guān)節(jié)模塊中的伺服電機(jī)、減速機(jī)、檢測(cè)系統(tǒng)三位一體化；有關(guān)節(jié)模塊、連桿模塊用重組方式構(gòu)造的機(jī)器人整機(jī)；國(guó)外已有模塊化裝配機(jī)器人產(chǎn)品問(wèn)市。其主要特點(diǎn)是：介質(zhì)來(lái)源極為方便、輸出力小、氣動(dòng)動(dòng)作迅速、結(jié)構(gòu)簡(jiǎn)單、成本低。 控制系統(tǒng)是支配機(jī)械手按規(guī)定的要求運(yùn)動(dòng)的系統(tǒng)。它的優(yōu)點(diǎn)是氣源方便，維護(hù)簡(jiǎn)單，成本低。 本 設(shè)計(jì) 所做的機(jī)械手采用 電磁鐵直接吸引 。 關(guān)鍵詞 機(jī)械手 ；三自由度；滾珠絲杠；單片機(jī) Abstract Scientific concept of development of engineering technology has opened up a broad road, while the robot as a hightech automated production equipment, has been widely used in various fields of national economy. At first, the paper introduces the conception of the manipulator, the position of the manipulator and its classification, the freedegree,the form of coordinate and the information of the development briefly . the mechanical structure design,the drive,the control system design and so on, realize three degrees of freedom movement of the manipulator: the X and Y axis movement and the X axis rotation. The design chooses the ball screw to realize the linear motion in the X and Y direction,to drive by the stepping motor, and realize the X axis rotation with the stepping motor. The manipulator grabs workpiece directly by electro magic chuch. The manipulator has simple structure and it is easy to operate. Under the control of the processor, it plete assembly task by itself. Keywords Manipulator Three Degrees of Freedom Ball screw SCM 徐州工程學(xué)院畢業(yè)設(shè)計(jì) (論文 ) I 目 錄 摘要 .................................................................................................................................................. I Abstract ...........................................................................................................................................II 1 緒論 ............................................................................................................................................. 1 機(jī)械手概述 .......................................................................................................................... 1 機(jī)械手的組成和分類 ................................................................................................... 1 國(guó)內(nèi)外發(fā)展?fàn)顩r ........................................................................................................... 4 本課題研究的主要內(nèi)容 ...................................................................................................... 5 小型零件裝配機(jī)械手的功能要求及現(xiàn)實(shí)意義 .................................................................. 6 小型零件裝配機(jī)械手的功能要求 ............................................................................... 6 小型零件裝配機(jī)械手的現(xiàn)實(shí)意義 ............................................................................... 6 2 機(jī)械手總體設(shè)計(jì)方案 ................................................................................................................. 7 機(jī)械手的坐標(biāo)型式與自由度 .............................................................................................. 7 機(jī)械手的坐標(biāo)型式 ....................................................................................................... 7 機(jī)械手的自由度 ........................................................................................................... 8 總體設(shè)計(jì)方案 ...................................................................................................................... 8 傳動(dòng)行走機(jī)構(gòu) ............................................................................................................... 8 驅(qū)動(dòng)行走機(jī)構(gòu) ............................................................................................................... 9 機(jī)械手的設(shè)計(jì)參數(shù) ............................................................................................................ 10 3 機(jī)械手機(jī)械系統(tǒng)設(shè)計(jì) ............................................................................................................... 12 X 軸結(jié)構(gòu)的設(shè)計(jì)與選擇 ..................................................................................................... 12 軸 滾珠絲桿副尺寸選擇計(jì)算 .................................................................................... 12 滾動(dòng)軸承型號(hào)選擇計(jì)算 .............................................................................................. 16 驅(qū)動(dòng)電機(jī)的選擇 計(jì)算 .................................................................................................. 17 軸鍵的選擇計(jì)算 ........................................................................................................ 18 軸結(jié)構(gòu)的設(shè)計(jì)與選擇 ....................................................................................................... 19 滾珠絲杠副尺寸選擇計(jì)算 .......................................................................................... 19 滾動(dòng)軸承型號(hào)選擇計(jì)算 .............................................................................................. 23 驅(qū)動(dòng)電動(dòng)機(jī)的選擇計(jì)算 .............................................................................................. 25 軸鍵的校核 ................................................................................................................ 26 二維工作臺(tái)底板的選擇及校核 .................................................................................. 27 4 機(jī)械手控制系統(tǒng)設(shè)計(jì) ............................................................................................................... 29 控制系統(tǒng)的結(jié)構(gòu)分類 ............................