机械手系统三维装配视图1
电梯平衡补偿链盘绕机器人-端部机械手及导链环设计
摘要：电梯平衡补偿链盘绕机器人的设计主要为了达到补偿链生产过程中盘绕工作的全自动化以及高精度，而且必须要在预订的轨迹之下，实现有序堆放。本文主要针对电梯平衡补偿链的端部机械手以及导链环进行研究，以保证机器人盘绕工作的精确性，连续性与稳定性。主要内容如下：
（1）通过运动学计算和运动仿真实验，根据每层的堆放轨迹及热平衡链自身力造成的自然跑偏规律，确定了机械指系统的结构及尺寸，用于整理上一层由于自身扭力导致偏离了正常轨道的补偿链，使之回到其理论盘绕轨迹上，以保证当前层补偿链的正确轨迹，实现精准堆放；以此代替人工矫正，实现了本机器人高智能化的目标。
（2）通过研究热挤出时补偿链的特性及规格的多样性，研制为补偿链导向、便于快速装卸的导链环；解决补偿链拖拽、改向过程中表面易刮擦的关键问题。
（3）利用ug软件进行机构各个零件的实体建模及装配
关键词：电梯；补偿链；盘绕机器人；机械手；导链环；
Abstract: The design of the elevator balance compensation chain coiled robot is mainly to achieve the full automation and high precision of the coilingwork in the compensation chain production process, and must be stacked in order under the reserved track. This paper mainly studies the end manipulator and the guide link of the elevator balance compensation chain to ensure the accuracy, continuity and stability of the robot coilingwork. The main contents are as follows:
(1) Through kinematics calculation and motion simulation experiments, according to the stacking trajectory of each layer and the natural deviation law caused by the heat balance chain's own force, the structure and dimensions of the mechanical finger system are determined, and used to sort out the upper layer and deviate from normal due to its own torsion. The compensation chain of the track is returned to its theoretical coiling trajectory so as to ensure the correct trajectory of the compensation chain at the current level and achieve accurate stacking; instead of manual correction, the robot is highly intelligentized..
(2) Through kinematics calculation and motion simulation experiments, according to the stacking trajectory of each layer and the natural deviation law caused by the heat balance chain's own force, the structure and dimensions of the mechanical finger system are determined, and used to sort out the upper layer and deviate from normal due to its own torsion. The compensation chain of the track is returned to its theoretical coiling trajectory so as to ensure the correct trajectory of the compensation chain at the current level and achieve accurate stacking; instead of manual correction, the robot is highly intelligentized.
(3) Using ug software for entity modeling and assembly ofvarious parts of the organization
Keywords: Elevators; Compensation chain; Coiled robots; Manipulators
目录
1.绪论···································································1
1.1课题研究的背景和意义············································1
1.2国内外研究现状······················································3
1.3课题的研究目标、内容和拟解决的关键问题·······························5
2.本设计的方案与原理介绍···································5
2.1本设计的整体方案··········································5
2.2本装置的工作原理说明··································5
3.机械手系统的零件设计介绍································7
3.1齿轮传动系统设计··············································7
3.1.1齿轮的设计················································8
3.1.2内套的设计···············································13
3.1.3轴承的选择···············································14
3.2支架设计························································14
3.3连接装置设计······················································15
3.4机械指系统设计···················································16
3.5其他板型材料零件设计···············································18
3.5.1 C形板的设计·················································18
3.5.2轴承盖板的设计···········································19
3.5.3轴端盖板的设计···········································20
4.导链环装置的零件设计介绍···············································21
4.1导链环的设计·····················································22
4.2支撑板的设计·················································23
4.3导链环压板的设计·················································24
5.电动机与减速机的选用··················································25
5.1电动机的选用···················································25
5.2减速机的选用······················································27
5.3电动机与减速机之间的连接···········································28
6.本设计小结·······················································28
7.设计心得体会······················································29
参考文献·······························································30
10-机械手总装配图A0
9-机械指系统装配图A1
1-导链环A3
2-机械手支架A3
3-大齿轮A3
4-C形板A4
5-轴承盖板A4
6-机械手Z向连接板A4
7-小齿轮A3
8-轴端盖板A4
11-机械指架A3
导链环装置部件装配
设计目录
设计字数统计
中英文摘要
