【導(dǎo)讀】電一體化自動(dòng)化生產(chǎn)設(shè)備。特別適合于多品種、變批量的柔性生產(chǎn)。仿生學(xué)等多學(xué)科而形成的高新技術(shù)，是當(dāng)代研究十分活躍，應(yīng)用日益廣泛的領(lǐng)域。機(jī)器人應(yīng)用情況，是一個(gè)國家工業(yè)自動(dòng)化水平的重要標(biāo)志。長的一種擬人的電子機(jī)械裝置，既有人對(duì)環(huán)境狀態(tài)的快速反應(yīng)和分析判斷能力，是先進(jìn)制造技術(shù)領(lǐng)域不可缺少的自動(dòng)化設(shè)備。在工業(yè)生產(chǎn)中應(yīng)用的機(jī)械手被稱為“工業(yè)機(jī)械手”。是附屬于該機(jī)床的專用機(jī)械手。機(jī)械手主要由執(zhí)行機(jī)構(gòu)、驅(qū)動(dòng)系統(tǒng)、控制系統(tǒng)以及位置檢測(cè)裝置等所組成。包括手部、手腕、手臂和立柱等部件。的構(gòu)件，常用的手指運(yùn)動(dòng)形式有回轉(zhuǎn)型和平移型。而傳力機(jī)構(gòu)則通過手指產(chǎn)生夾緊力來完成夾放物件的任務(wù)。取物件，并按預(yù)定要求將其搬運(yùn)到指定的位置。此外，導(dǎo)向裝置還能承擔(dān)手臂所受的彎曲力矩。裝滾輪、軌道等行走機(jī)構(gòu)，以實(shí)現(xiàn)工業(yè)機(jī)械手的整機(jī)運(yùn)動(dòng)?？刂葡到y(tǒng)是支配著工業(yè)機(jī)械手按規(guī)定的要求運(yùn)動(dòng)的系統(tǒng)。錯(cuò)誤或發(fā)生故障時(shí)即發(fā)出報(bào)警信號(hào)。

　　

【正文】 11. 1S =12 11. 1 5= 27. 75 (L/min) , 此流量遠(yuǎn)大于真空發(fā)生器的平均吸入流量 Q 1= 2. 115 (L/min) 所以本連接管能滿足吸著響應(yīng)時(shí)間的要求。 34 供給閥選 V Z300R 外部先導(dǎo)型 , 因設(shè)置在 壓力管路中 , 選用一般換向閥即可。其有效截面積不宜小于真空發(fā)生器噴嘴幾何面積的 4 倍 , 且真空發(fā)生器供氣口的連接管內(nèi)徑也不宜小于噴嘴直徑的 4 倍。 以減少供給回路的壓力損失。真空破壞閥選 VX2 真空型。由于設(shè)置于真空回路中 , 故必須選用能在真空條件下工作的換向閥。常見的結(jié)構(gòu)形式有截止式、膜流式和滑閥式。真空換向閥要求不泄漏 , 且不用油霧潤滑。故使用截止式和膜流式閥芯結(jié)構(gòu)比較理想。 真空過濾器選擇 ZFA 100 型 , 通過真空過濾器的最大吸入流量應(yīng)小于該過濾器的推薦流量。 空氣壓縮機(jī)的型號(hào)選擇 :工作壓力 P= 容積流量 : 35 結(jié) 論 機(jī)械手為沖床機(jī)械手。選用圓柱座標(biāo)和三自由度。機(jī)械手的各執(zhí)行機(jī)構(gòu)，包括 :手部、手臂等部。用氣流負(fù)壓式吸盤來吸取板料工件。 該機(jī)械手在工作中需要 3 種運(yùn)動(dòng) ,其中手臂的伸縮和立柱升降為兩個(gè)直線運(yùn)動(dòng) ,另一個(gè)為手臂的回轉(zhuǎn)運(yùn)動(dòng) ,綜合考慮，機(jī)械手自由度數(shù)目取為 3，坐標(biāo)形式選擇圓柱坐標(biāo)形式，即一個(gè)轉(zhuǎn)動(dòng)自由度兩個(gè)移動(dòng)自由度，其特點(diǎn)是 :結(jié)構(gòu)比較簡單 ,手臂運(yùn)動(dòng)范圍大 ,且有較高的定位準(zhǔn)確度。 考慮到腰座是機(jī)器人 的第一個(gè)回轉(zhuǎn)關(guān)節(jié)，對(duì)機(jī)械手的最終精度影響大，故采用電機(jī)驅(qū)動(dòng)來實(shí)現(xiàn)腰部的回轉(zhuǎn)運(yùn)動(dòng)。 考慮到機(jī)械手的動(dòng)態(tài)性能及運(yùn)動(dòng)的穩(wěn)定性，安全性，兩手臂的驅(qū)動(dòng)均選擇液壓驅(qū)動(dòng)方式，通過液壓缸的直接驅(qū)動(dòng)。 在分析了具體工作要求后，綜合考慮各個(gè)因素。機(jī)械手腰部的旋轉(zhuǎn)運(yùn)動(dòng)需要一定的定位控制精度，故采用步進(jìn)電機(jī)驅(qū)動(dòng)來實(shí)現(xiàn)；因?yàn)椴捎靡簤簣?zhí)行缸來做水平手臂和垂直手臂，故大小臂均采用液壓驅(qū)動(dòng)；機(jī)械手的手部結(jié)構(gòu)設(shè)計(jì) 在工件是板料，使用氣流負(fù)壓式吸盤 .采用氣動(dòng)驅(qū)動(dòng) . 36 致 謝 本文是在我尊敬的導(dǎo)師 李兆銓的悉心指導(dǎo)下完成的。導(dǎo)師嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度和精益求精的工作作風(fēng)使我受益匪淺。在此，我首先向?qū)煴硎菊\摯的感謝，并致以崇高的敬意 ! 在設(shè)計(jì)的過程中，得到了學(xué)院老師的大力支持和幫助，以及同學(xué)的通力合作，在我遇到困難，苦惱的時(shí)候，你們?cè)谝慌詾槲壹佑痛驓猓谏钪杏龅筋^疼事的時(shí)候你們給了我莫大的支持。在此一并向他們表示衷心的感謝。 在日常生活和學(xué)習(xí)中，學(xué)院的各位老師，以及各位同學(xué)給與我大力支持和幫助，在此我向他們以及多年來為我的成長付出辛勤勞動(dòng)的老師和同學(xué)們表示衷心的感謝。感謝你們對(duì)我的學(xué)習(xí)和生活的無私付出，在以 后人生的道路上，我將永遠(yuǎn)銘記在心。 感謝學(xué)院的各位老師，感謝所有關(guān)心我的朋友和校友以及其他不記得名字的朋友，感謝湖北工業(yè)大學(xué)的學(xué)習(xí)環(huán)境。 鄭剛 202166 37 參考文獻(xiàn) [1]徐元昌 .工業(yè)機(jī)器人 .北京 :中國輕工業(yè)出版社， 1996 [2]張建民 .工業(yè)機(jī)器人 .北京 :北京理工大學(xué)出版社， 1988 [3]蔡自興 .機(jī)器人學(xué)的發(fā)展趨勢(shì)和發(fā)展戰(zhàn)略 .機(jī)器人技術(shù)， 2021, 4 [4]周洪 .氣動(dòng)技術(shù)的新發(fā)展 .液壓氣動(dòng)與密封， 1999, 5 [7]周伯英 .工業(yè)機(jī)器人設(shè)計(jì) .北京 :機(jī)械工業(yè)出版社， 1995 [8]龍立新 .工業(yè)機(jī)械手的設(shè)計(jì)分析 .焊工之友， 1999, 3 [9]王承義 .機(jī)械手及其應(yīng)用 .北京 :機(jī)械工業(yè)出版社， 1981 [l0]時(shí)圣勇 .射流式真空發(fā)生器 [J ].液壓與氣動(dòng) , 1991. [1l]李哲 .沖壓床自動(dòng)上、下料機(jī)械手的研制，研究與設(shè)計(jì)， 2021, 5 [12]趙麗萍 .氣動(dòng)機(jī)械手應(yīng)用事例分析 .上海輕工業(yè)高等?？茖W(xué)校學(xué)報(bào)， 1993, 1 [13]嚴(yán)學(xué)高，孟正大 .機(jī)器人原理 .南京 :東南大學(xué)出版社， 1992 [14]張新華 .沖床自動(dòng)送料機(jī)的原理及設(shè)計(jì) .鍛壓技術(shù)， 1993, 5 [15]機(jī)械設(shè)計(jì)師手冊(cè) .北京 :機(jī)械工業(yè)出版社， 1986 [17]黃錫愷，鄭文偉 .機(jī)械原理 .北京 :人民教育出版社， 1981 [18]成大先 .機(jī)械設(shè)計(jì)圖冊(cè) .北京 :化學(xué)工業(yè)出版社， 1985 [19]王為，汪建曉 .機(jī)械設(shè)計(jì) .武漢：華中科技大學(xué)出版社， 2021. [20]左健民 .液壓與氣壓傳動(dòng) .北京：機(jī)械工業(yè)出版社， 。 38 外文資料 MECHANISMS AND MACHINE THEORY to Mechanism： The function of a mechanism is to transmit or transform motion from one rigid body to another as part of the action of a machine. There are three types of mon mechanical devices that can be used as basic elements of a mechanism. Gear system, in which toothed members in contact transmit motion between rotating shafts. Cam system, where a uniform motion of an input member is converted into a nonuniform motion of the output member. Plane and spatial linkages are also useful in creating mechanical motions for a point or rigid body. A kinematic chain is a system of links, that is, rigid bodies , which are either jointed together or are in contact with one another in a manner that permits them to move relative to one another. If one of the links is fixed and the movement of any other link to a new position will cause each of the other links to move to definite predictable position, the system is a constrained kinematic chain. If one of the links is held fixed and the movement of any other link to a new position will not cause each of the other links to move to a definite predictable position then the system is an unconstrained kinematic chain, A mechanism or linkage is a constrained kinematic chain, and is a mechanical device that has the purpose of transferring motion and/or force from a source to an output. A linkage consists of links (or bars), generally considered rigid, which are connected by joints, such as pin Cor revolute) or prismatic joints, to form open or closed 39 chains (or loops). Such kinematic chains, with at least one link fixed, bee mechanisms if at least two other links remain mobility, or structures if no mobility remains. In other words, a mechanism permits relative motion between its rigid links。 a structure does not. Since linkages make simple mechanisms and can be designed to perform plex tasks, such as nonlinear motion and force transmission they will receive much attention in mechanism study. Mechanisms are used in a great variety of machines and devices. The simplest closedloop linkage is the fourbar linkage, which has three moving links (plus one fixed link) and four pin joints. The link that is connected to the power source or prime mover and has one moving pivot and one ground pivot is called the input link. The output link connects another moving pivot to another ground pivot. The coupler or floating link connected the two moving pivots, thereby coupling the input to the output link. The fourbar linkage has some special configurations created by making one or more links infinite in length. The slidercrank (or crank and slider) mechanism is a fourbar chain with a slider replacing an infinitely long output link. The internal bustion engine is built based on this mechanism. Other forms of fourlink mechanisms exist in which a slider is guided on a moving link rather than on a fixed link. These are called inversions of the slidercrank, produced when another link (the crank, coupler, or slider) is fixed link. Although the fourbar linkage and slidercrank mechanism are very useful and found in thousands of applications, we can see that these linkages have limited performance level. Linkages with more members are often used in more demanding circumstances. However it is often difficult to visualize the movement of a multiloop linkage, especially when other ponents appear in the same diagram. The first step in the motion analyses of more plicated mechanisms is to sketch the equivalent kinematic or skeleton diagram. The skeleton diagram serves a purpose similar to that of