论文总字数：24676字

摘 要

工业机械夹具是工业生产的必然产物，它是按照预定要求输送工件或握持工具进行操作的自动化技术设备，对实现工业生产自动化，推动工业生产的进一步发展起着重要作用。因而具有强大的生命力受到人们的广泛重视和欢迎。实践证明，工业机械手可以显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。工业生产中经常出现的笨重工件的搬运和长期频繁、单调的操作，采用机械手是有效的。此外，它能在高温、低温、深水、宇宙、放射性和其他有毒、污染环境条件下进行操作，更显示其优越性，有着广阔的发展前途。

物料输送传送带在当今社会应用日益广泛,在工业发展中对于物料的输送越发显得重要，而当今输送带以迅猛发展之势，迅速占领了物料输送市场。本文设计中选择的是皮带输送带。输送带根据摩擦传动原理而运动，具有输送量大、输送距离长、输送平稳，物料与输送带没有相对运动，噪音较小，结构简单、维修方便、能量消耗少、部件标准化等优点，因而广泛应用于采矿、冶金、化工、铸造、建材等行业的输送和生产流水线以及水电站建设工地和港口等生产部门，用来输送松散物料或成件物品，根据输送工艺要求，可以单台输送，也可多台胶带输送机组成或与其他输送设备组成水平或倾斜的输送系统，以满足不同布置形式的作业线需要。输送带根据摩擦传动原理而运动，具有输送量大、输送距离长、输送平稳，物料与输送带没有相对运动，噪音较小，结构简单、维修方便、能量消耗少、部件标准化等优点，因而广泛应用于采矿、冶金、化工、铸造、建材等行业的输送和生产流水线以及水电站建设工地和港口等生产部门，用来输送松散物料或成件物品，根据输送工艺要求，可以单台输送，也可多台胶带输送机组成或与其他输送设备组成水平或倾斜的输送系统，以满足不同布置形式的作业线需要。

关键词：工业机械夹具 物料输送传送带 皮带输送带

Abstract

Industrial mechanical fixture is the inevitable outcome of the industrial production, it is according to the reservation request artifacts or hold the tools to manipulate automation technology and equipment, to achieve industrial production automation, plays an important role in promoting the further development of industrial production.Thus has strong vitality by widespread recognition and welcome.Practice has proved that industrial robots can significantly reduce the labor intensity of workers, improve working conditions, improve labor productivity and automation level.Handling of heavy artifacts often appears in industrial production and frequent, monotonous operation for a long time, the manipulator is effective.In addition, it can be in high temperature, low temperature and deepwater, the universe, radioactive and other toxic, environmental pollution condition, more show its superiority, has a wide development future.
Conveyor belt conveying of application is becoming more and more widely in today's society, for the material in the industrial development of conveying all the more important, and the conveyor belt with rapid development trend, quickly occupied the market material conveying.In this paper, selection in the design of belt conveyor.Conveyor belt according to the principle of friction drive and movement, are characterized by their smooth bue, long transport distance, transport, materials and conveyor belt is no relative movement, low noise, simple structure, convenient maintenance, less energy consumption, the advantages of standardization of parts, and therefore is widely used in mining, metallurgical, chemical, casting, building materials industries such as transportation and production line and production departments such as hydropower station construction site and port used to transport loose materials or items, according to the conveying process requirement, can be a single delivery, can also be more than one of belt conveyor, or with other conveying equipment to form horizontal or inclined conveyor system, in order to satisfy different layout of production line.Conveyor belt according to the principle of friction drive and movement, are characterized by their smooth bue, long transport distance, transport, materials and conveyor belt is no relative movement, low noise, simple structure, convenient maintenance, less energy consumption, the advantages of standardization of parts, and therefore is widely used in mining, metallurgical, chemical, casting, building materials industries such as transportation and production line and production departments such as hydropower station construction site and port used to transport loose materials or items, according to the conveying process requirement, can be a single delivery, can also be more than one of belt conveyor, or with other conveying equipment to form horizontal or inclined conveyor system, in order to satisfy different layout of production line.

Keywords: industrial mechanical fixture conveyor belt conveyor belt conveying

目录

摘要 I

ABSTRACT II

第一章 绪论 - 1 -

1.1机器人概述 - 1 -

1.2机器人的历史、现状 - 2 -

1.3机器人发展趋势 - 3 -

第二章 工业机器人夹具 - 7 -

2.1机械夹具的设计 - 7 -

2.11设计时应考虑的几个问题 - 7 -

2.2 夹具动力的结构和驱计算 - 8 -

2.21 滑槽杠杆式 - 9 -

2.3夹具定位误差分析 - 11 -

2.4 机器人常用的传动机构形式 - 14 -

2.5机械夹具控制程序 - 18 -

第三章 物料输送系统设计 - 23 -

3.1带式输送机的设计 - 23 -

3.11 电动机的选择 - 23 -

3.12 带速的选择 - 23 -

3.13 总体布置设计 - 23 -

3.14 控制系统的设计 - 26 -

3.2 输送机各部件选型计算过程 - 28 -

3.21输送机布置简图 - 29 -

3.22 初定参数 - 29 -

3.3 张力计算 - 33 -

3.4 拉紧装置计算 - 35 -

3.5 输送带选择计算 - 35 -

3.6输送带组合型号 - 36 -

第四章总结 - 37 -

致谢 - 38 -

参考文献 - 39 -

第一章 绪论

1.1机器人概述

机械工业是国民的装备部，是为国民经济提供装备和为人民生活提供耐用消费品的产业。不论是传统产业，还是新兴产业，都离不开各种各样的机械装备，机械工业所提供装备的性能、质量和成本，对国民经济各部门技术进步和经济效益有很大的和直接的影响。机械工业的规模和技术水平是衡量国家经济实力和科学技术水平的重要标志。因此，世界各国都把发展机械工业作为发展本国经济的战略重点之一。

工业机械手是近几十年发展起来的一种高科技自动化生产设备。工业机械手的是工业机器人的一个重要分支。它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。

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