文档介绍：苹果分类包装机械手传送机构及抓取部分设计
摘要
本文从生产实际要求出发,在对苹果生物学特性及传送方式进行深入研究的基础上完成了苹果传送机构和四自由度苹果分类搬运机械手抓取部分的结构设计。选取了合理的传送电机,确定了传送机构的主要尺寸,选择了机械手的坐标形式;设计了机械手的手部结构;选择了机械手的传动方式;使用了合理的手指结构;根据各部分气缸所需的驱动力,确定出手指主要尺寸。对单、双支点回转型手指的夹持误差分析比较后,选用单支点回转型手指;在手部驱动杆运动时,通过两次夹持不同直径的苹果来确定手部滑槽的长度。研究设计完成后的系统减小了对苹果表皮的损伤,智能化程度较高。机械手具有运动灵活,占地面积小,操作简便等优点,因此,适宜于中小规模的水果分类搬运。
关键词:苹果包装;机械手;传送机构
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DESIGN OF TRANSPORT AND GRASPING MECHANISM OF MANIPULATOR FOR APPLES CATEGORISE PACKING
ABSTRACT
This paper set out from the practical pleted the design of structure of apple transport mechanism and the four freeness degree manipulator which used to class and transit apples on the base of doing deeply study to apple’s biologic characteristic and carrying style. Selected a reasonable Motors for transmission, Calculated and determined main size of the transmission body. Chosen the coordinate form, designed the hand frame and selected the transmission way of the manipulator;made use of the reasonable finger frame;According to the drive power which each parts of air cylinders needed, Calculated and determined the main size of the finger. Determined use the single fulcrum gyration finger to be more reasonable after the analysis of grasp error between the single fulcrum gyration finger and the double fulcrum gyration finger. When the driving pole of hand is moving,the length of runner can be counted through grasp different diameter apples two times. pleting research design system decreased the injury to the apple epidermis, and the intelligent degree was higher. The manipulator has the merits of the vivid movement, small covered area, and simple operation , it suitable to the small-scale fruit when classification and transporting.
Key Words:Packaging of apple,Manipulator,Transport mechanism
目录
摘要 I
ABSTRACT II
目录 III
第一章绪论 1
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第二章机械手的功能分析及总体设计方案 7
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