XYZ直角坐标机械手的机械结构设计

编号：毕业设计说明书题目：XYZ直角坐标机械手的机械结构设计学院：机电工程学院专业：机械设计制造及其自动化学生姓名：黄显昌学号：1100110210指导教师单位：机电工程学院姓名：张旭职称：实验师题目类型：理论研究实验研究工程设计工程技术研究软件开发2015年5月27日桂林电子科技大学毕业设计（论文）报告用纸摘要在当今制造业迅速发展的年代，为了提高企业的生产效率，增加企业的经济效益，企业家们开始把目光和战略放到机械自动化上，力求能大量的使用自动化设备。目前自动化设备已经遍布企业的生产线。其中最为典型的自动化机械手。为了满足社会工业的需求，人们开始研究设计更为先进的机械手。从另外的一个角度上，也可以这么认为，一个国家的机械手技术水平的先进程度和对机械手的应用广泛程度，体现出了一个国家目前的工业发达程度。本文通过概述机械手，介绍XYZ直角坐标机械手，说明了本次要设计怎么样的机械手结构。文中有三个直线运动模块的详细设计过程，包括电动机的选择计算，滚珠丝杠副还有滚动导轨的型号的选择，滚动轴承的选择，弹性联轴器的选择，轴承座的设计，电机安装座的设计选择，机架的设计，以及机械零件的相关指标的校核。零件的相关指标的校核包括，丝杆的刚度、使用寿命许用转速等的校核，滚动轴承载荷的校核，使用寿命的校核，导轨的使用寿命等校核。文中还详细介绍了一个非标准零件的工艺，包括详细的尺寸设计加工工艺过程，即为从毛坯到形成所需零件的详细加工过程。零件的热处理工艺过程，包括正火，回火，调制处理等。最终就是要实现设计一个能升降运动，左右移动，前后移动的XYZ直角坐标机械手的机械结构。机械手结构的设计不仅要能满足机械手的基本运动，还要能满足机械手的高定位精度，高移动精度。且其外形还要体积小，外形美观。关键词：机械手；电动机；滚珠丝杠副桂林电子科技大学毕业设计（论文）报告用纸AbstractIntoday’seraofrapiddevelopmentofmanufacturingindustry,entrepreneurshavebeguntofocustheireyesandstrategiesonmechanicalautomation,strivetousealotofautomationequipment,inordertoimprovetheproductionefficiencyandtheeconomicbenefits.Nowadaystheautomationequipmenthasbeenspreadallovertheproductionlinesofenterprises,especiallytheautomated.Duetomeettheneedsofthesocialindustry,peoplebegintodesignmoreadvanceds.Fromanotherperspective,theindustriallevelofacountrydependonitsmanipulatortechnologyandtheextensivedegreeofmanipulatorapplication.Anoverviewofrobotisoutlined,itsXYZrectangularcoordinateisintroduced,andthemechanicalstructureofthemanipulatorisdescribed.Thedesignprocessofthreelinearmotionmodulesisdetailed,includingtheselectioncalculationofthemotor,typeselectionoftheballscrewpairandtherollingguide,theselectionofrollingbearing,theselectionofflexiblecoupling,thedesignofbearingbase,thedesignofmotormountingbase,thedesignoftheframe,andthecheckoftherelatedindexesofmachineparts.Thecheckcontainsthestiffnessoftheguidescrew,theallowablespeedamongtheworkinglife,theloadofrollingbearing,theworkinglifeofguidescrew.Theprocessofanon-standardpartisdetailed,includingthedimensiondesign,themachiningprocessfromtheroughtorequiredpart.Theheatprocesscontainsnormalizing,tempering,modulationprocessing.AlltheaboveworkisaimedatdesigningaXYZrectangularcoordinatemanipulatorwhichcanmoveupanddown,moveleftandright,moveforwardandbackward.Thedesignofthestructuremustmeetnotonlythebasicmovementbutalsothehighlocatingandmoveaccuracy.Themanipulatormusthavethesmallvolumeandabeautifulappearance.Keywords:manipulator;motor;ballscrew桂林电子科技大学毕业设计（论文）报告用纸引言...................................................................................................................11ZYZ直角坐标机械手方案设计....................................................................21.1本次设计的机械手··············································································································21.2本次设计的重点·················································································································21.3设计的机械手的外观结构三维图·····················································································21.4设计总体方框图·················································································································32Z轴运动模块的设计...................................................................................42.1滚珠丝杠的设计··················································································································42.1.1右旋磨制丝杠..................................................................................................................42.1.2最大载荷的计算...............................................................................................................42.1.3丝杠静载荷的计算...........................................................................................................62.1.4丝杠副dn值的校验.........................................................................................................62.1.5丝杠临界转速进行校核..................................................................................................62.1.6螺杆强度校核...................................................................................................................72.1.7刚度的校核.......................................................................................................................82.1.8丝杠的效率校核...............................................................................................................82.2滚动轴承的选择与校核······································································································92.2.1径向外载荷的计算Fr.......................................................................................................92.2.2计算轴向外载荷Fa...........................................................................................................92.2.3轴承支反力的计算...........................................................................................................92.2.4计算角接触轴承的派生轴向力.......................................................................................92.2.5轴承所受轴向载荷.........................................................................................................