设计简介
摘 要
基于现阶段在充满可燃气体的场所内的搬运问题的研究和分析，并结合实际用途和机械结构的可行性，通过对力和工作效率的计算下，设计一种工作效率高，实用性强，并且是全气动的矿用机械手。气动技术使用气体为动力传输介质。气源来源广泛，可直接从空气中汲取，廉价便捷。其次，气动传动迅速，稳定可靠，结构简单，质量也较其他机构更轻。在末端执行效果来看，使用气动可使执行机构具有很好的柔性，这样在使用过程中更加的安全，对所工作对象的损伤也较小。另外，由于气体无害，清洁，其在维修、检查等方面都较为方便。
本气动矿用机械手适用于多种场合和各种货物的运输，特别是在充满了瓦斯气体的矿井下，具有良好的实用价值。
本此设计中主要是通过机械设计的方式，完成对矿用机械手结构的设计，并对其中重要部件进行校核,其中包括手指，腕部，手臂及机械底盘的设计。完成选型后使用
Solidworks 对矿用机械手进行三维建模。在完成结构设计之后根据其特性在加上气路设计，增加气压元件完成各执行件的运动。并在后期对控制系统进行了设计，而且使用宇龙仿真软件对控制系统进行仿真，以验证其可行性。
关键词：矿用机械手，机械设计，气压传动，Solidworks 三维建模，PLC
ABSTRACT
Based on the research and analysis of the handling problem in the place of combustible gas at the present stage, and combining the practical use and the feasibility of the mechanical structure, a kind of mine manipulator with high efficiency and practicability is designed by calculating the force and working efficiency. The pneumatic technology uses gas as a dynamic transmission medium. The source of gas is extensive and can be directly drawn from the air, which is cheap and convenient. Secondly, pneumatic transmission is fast, stable and reliable, simple in structure and lighter in quality than other institutions. In the end effect, the use of pneumatic can make the actuator have a good flexibility, so that it is more safe in the process of use and less damage to the working object. In addition, because gas is harmless and clean, it is more convenient in maintenance and inspection.
The pneumatic mine manipulator is suitable for various occasions and the transportation of various goods, especially in mines full of gas and gas, and has good practical value.
In this design, the design of the mechanical hand structure of the mine is completed by the mechanical design, and the important parts are checked, including the design of the finger, wrist, arm and mechanical chassis. After completing the selection, 3D modeling of mine manipulator is carried out by using Solidworks. After completing the structural design, plus pneumatic design according to its characteristics, the pneumatic components are added to complete the movement of each actuator. The control system was designed in the later stage, and the simulation of the control system was carried out using Yulong simulation software to verify its feasibility.
Key Words：Mine manipulator, Mechanical design, Pneumatic transmission,
Solidworks 3D modeling, PLC
基于现阶段在充满可燃气体的场所内的搬运问题的研究和分析，并结合实际用途和机械结构的可行性，通过对力和工作效率的计算下，设计一种工作效率高，实用性强，并且是全气动的矿用机械手。气动技术使用气体为动力传输介质。气源来源广泛，可直接从空气中汲取，廉价便捷。其次，气动传动迅速，稳定可靠，结构简单，质量也较其他机构更轻。在末端执行效果来看，使用气动可使执行机构具有很好的柔性，这样在使用过程中更加的安全，对所工作对象的损伤也较小。另外，由于气体无害，清洁，其在维修、检查等方面都较为方便。
本气动矿用机械手适用于多种场合和各种货物的运输，特别是在充满了瓦斯气体的矿井下，具有良好的实用价值。
本此设计中主要是通过机械设计的方式，完成对矿用机械手结构的设计，并对其中重要部件进行校核,其中包括手指，腕部，手臂及机械底盘的设计。完成选型后使用
Solidworks 对矿用机械手进行三维建模。在完成结构设计之后根据其特性在加上气路设计，增加气压元件完成各执行件的运动。并在后期对控制系统进行了设计，而且使用宇龙仿真软件对控制系统进行仿真，以验证其可行性。
关键词：矿用机械手，机械设计，气压传动，Solidworks 三维建模，PLC
ABSTRACT
Based on the research and analysis of the handling problem in the place of combustible gas at the present stage, and combining the practical use and the feasibility of the mechanical structure, a kind of mine manipulator with high efficiency and practicability is designed by calculating the force and working efficiency. The pneumatic technology uses gas as a dynamic transmission medium. The source of gas is extensive and can be directly drawn from the air, which is cheap and convenient. Secondly, pneumatic transmission is fast, stable and reliable, simple in structure and lighter in quality than other institutions. In the end effect, the use of pneumatic can make the actuator have a good flexibility, so that it is more safe in the process of use and less damage to the working object. In addition, because gas is harmless and clean, it is more convenient in maintenance and inspection.
The pneumatic mine manipulator is suitable for various occasions and the transportation of various goods, especially in mines full of gas and gas, and has good practical value.
In this design, the design of the mechanical hand structure of the mine is completed by the mechanical design, and the important parts are checked, including the design of the finger, wrist, arm and mechanical chassis. After completing the selection, 3D modeling of mine manipulator is carried out by using Solidworks. After completing the structural design, plus pneumatic design according to its characteristics, the pneumatic components are added to complete the movement of each actuator. The control system was designed in the later stage, and the simulation of the control system was carried out using Yulong simulation software to verify its feasibility.
Key Words：Mine manipulator, Mechanical design, Pneumatic transmission,
Solidworks 3D modeling, PLC
| 致谢 ....................................................... | - 34 | - |
| 参考文献 ................................................... | - 35 | - |
