1、学生姓名:黄显昌号: 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
2、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
3、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AbstractIn todays era of rapid development of manufacturing industry, entrepreneurs have begunto focus their eyes and strategies on mechanical automation, strive to use a lot of automationequipment, in order
4、 to improve the production efficiency and the economic benefits.Nowadays the automation equipment has been spread all over the production lines ofenterprises, especially the automated. Due to meet the needs of the social industry, peoplebegin to design more advanced s. From another perspective, the
5、industrial level of a countrydepend on its manipulator technology and the extensive degree ofapplication.An overview of robot is outlined, its XYZ rectangular coordinate is introduced, and themechanical structure of the manipulator is described. The design process of three linearmotion modules is de
6、tailed, including the selection calculation of the motor, type selection ofthe ball screw pair and the rolling guide, the selection of rolling bearing, the selection offlexible coupling, the design of bearing base, the design of motor mounting base, the designof the frame, and the check of the relat
7、ed indexes of machine parts. The check contains thestiffness of the guide screw, the allowable speed among the working life, the load of rollingbearing, the working life of guide screw. The process of a non-standard part is detailed,including the dimension design, the machining process from the roug
8、h to required part. Theheat process contains normalizing, tempering, modulation processing.All the above work is aimed at designing a XYZ rectangular coordinate manipulatorwhich can move up and down, move left and right, move forward and backward. The designof the structure must meet not only the ba
9、sic movement but also the high locating and moveaccuracy. The manipulator must have the small volume and a beautiful appearance.Key words: manipulator; motor; ball screw引言61 ZYZ 直角坐标机械手方案设计71.1 本次设计的机械手71.2 本次设计的重点71.3 设计的机械手的外观结构三维图71.4 设计总体方框图82 Z 轴运动模块的设计92.1 滚珠丝杠的设计92.1.1 右旋磨制丝杠.a.v.U V2.1.2 最大载
10、荷的计算.v.3o9S2.1.3 丝杠静载荷的计算.M u. 161v2.1.4 丝杠副 dn 值的校验 Y.u. C1f1m2.1.5 丝杠临界转速进行校核.e.U.ts181Z2.1.6 螺杆强度校核.s.1EJ2k2.1.7 刚度的校核.M Ia1s3N2.1.8 丝杠的效率校核.T.r.R.G1c3h2.2 滚动轴承的选择与校核142.2.1 径向外载荷的计算 Fr.1.4.l.z.q.7.2.2.2 计算轴向外载荷Fa.1.4 z.v.p.g.2.2.3 轴承支反力的计算.1.4.N.ro2.2.4 计算角接触轴承的派生轴向力 1.n.o1w4fT2.2.5 轴承所受轴向载荷.fj.n.F LD1a552.2.6 计算轴承所受当量载荷 Pr.tf.n. h1n5E2.2.7 基本额定动载荷C.H.m.1VN672.2.8 选定轴承.1.6.V.7.l4.j .2.2.9 轴承寿命Ln 的校核.1.6l.2.3 设计滚动轴承座162.4 联轴器的