机械手毕业设计说明书.doc

装卸料机械手设计
摘要
机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置,由其控制系统执行预的程序实现对工件的定位夹持。完全取代了人力,节省了劳动资源,提高了生产效率。
本设计以实现铣床自动上下料为目的,设计了个水平伸缩距为200mm,垂直伸缩距为200mm具有三个自由度的铣床上下料机械手。机械手三个自由度分别是机身的旋转,手臂的升降,以及机身的升降。在设计过程中,确定了铣床上下料机械手的总体方案,并对铣床上下料机械手的总体结构进行了设计,对一些部件进行了参数确定以及对主要的零部件进行了计算和校核。以单片机为控制手段,设计了机械手的自动控制系统,实现了对铣床上下料机手的准确控制。
关键词:机械手,四自由度,上下料,单片机
THE DESIGN OF HAND LOADING MACHINE
ABSTRACT
Manipulator , an automation equipment with function of grabbing and moving the workpiece ,is used in an automated production perform scheduled program by the control system to realize the function of the positioning of the workpiece clamping. pletely replace the human, saving labor resources, and improve production efficiency.
This design is to achieve milling automatic loading and unloading .Design a manipulator with three degrees of freedom and 200mm horizontal stretching distance, 120mm vertical telescopic distance. Three degrees of freedom of the manipulator is body rotation, arm movements, as well as the movements of the body. In the design process, determine the overall scheme of the milling machine loading and unloading manipulator and milling machine loading and unloading manipulator, the overall structure of the design parameters of ponents as well as the ponents of the calculation and verification. In the means of Single-chip puter for controlling, design the automatic control syst