摘要本文主要介绍一种图书馆自动存取机器人，它的目的在于实现图书存取的自动化。这种机器人的使用可以代替人完成图书存取工作，减轻图书管理员工作压力。图书自动存取机器人的智能能够明显提高图书存取的效率，为借书者提供更好的服务。将图书馆信息资理系统、图书自动存取系统和物流配送系统结合起来，研制图书自动存取装置，不仅能满足高龄读者的需要，而且有利于保护图书。因此，研究和开发图书自动存取机器人是一项有社会和经济价值的研究项目。50785
本课题主要对机器人的机械结构进行设计，首先确定了采用2轮单独驱动的3轮移动机构，并选择适合的电机；随后确定了机械手机构为直角坐标机械手机构，并选择滚珠丝杠线性执行机构为机械手机构的线性执行机构；第三步就是确定末端执行机构的方案，末端执行机构方案的设计包括开合气缸、伸缩气缸和旋转气缸型号的选择。最后使用PRO/E软件对主要零部件进行建模。
毕业论文关键字：图书馆 图书自动存取 机器人
Abstract This paper describes a books retrieval and return robot and it aims to achieve the automation of retrieval and return of books. The use of this robot can replace the person to complete the work to retrieval and return books, which can reduce the work pressure of the librarian. The automation of the books retrieval and return robot can significantly improve the efficiency of work to provide better service. Combine the library information management system, library automated storage retrieval system and logistics, the developed automated library access device will not only to meet the needs of elderly readers, but also conducive to protect the books Therefore, research and develop a books retrieval and return robot is a social and economic value of research projects.
The thesis focus on the robot design of the mechanical structure, firstly a three moving mechanism which use two separate drive is determined, and select the appropriate motor; Then the Cartesian coordinate manipulator mechanism is determined to be the manipulator mechanism, and select the ball screw linear actuators to be the robotic linear actuator mechanism. The third step is to determine the end-effector, the design of the end-effector include the choice of opening and closing cylinder、telescopic cylinder and rotating cylinder. Finally using PRO/E to modeling for the main components.
Key words : library , automatic books access , robot
目录
第一章绪论 1
1.1选题的背景与意义 1
1.3论文的主要研究内容 2
第二章 图书自动存取机器人总体方案设计 3
2.1移动机构方案的确定 3
2.2图书馆自动存取机器人存取机构的比较和选择 4
2.2.1机械手机构方案确定 5
2.2.2线性执行器方案选择 5
2.3末端执行机构的方案选择 7
2.4驱动方案选择 9
2.5本章小结 10
第三章图书自动存取机器人机械结构设计 12
3.1末端执行机构设计 12
3.2直角坐标机械手机构 16
3.3图书自动存取机器人移动平台机械结构设计 19
3.4本章小结 PRO/E图书自动存取机器人的设计:http://www.youerw.com/jixie/lunwen_54191.html