机械5

普通车床自动上下料装置机械手结构设计 摘要 实践证明，工业机械手可以代替人手的繁重劳动，显着减轻工人的劳动强度，从而提高经济效益。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，采用机械手是非常有效的。在繁重的条件下进行的操作，更显示其优越性，有着广阔的发展前途。 本课题是为普通车床配套而设计的一种自动上下料装置的双手臂的机械手。本文对机械手进行了总体方案的设计，确定了机械手的坐标型式、三个自由度和机械手的技术参数,并分别确定了该机械手的手臂的回转机构和升降机构，双支点回转型手部结构，并利用AutoCAD软件绘制了车床上下料机械手装配图，手部结构图以及一些主要的零件图，同时也简要的介绍了工业机器人的概念，机械手的组成和分类，机械手的自由度和坐标型式等基本知识。 本次题目的设计要求是抓取重物30kg,机械手的双臂可同时升降并在水平面内一起作90°回转动作，升降220mm,装在手臂前端的手，可作夹紧或松开工件的开闭动作。机械手工作时，通过手臂的升降、回转和手的开闭，可完成工件上、下料的自动循环。手臂的回转装置采用了齿条齿轮机构，同时依靠液压缸的驱动实现了手臂的升降运动。由于工作对象为孔径结构的工件，所以设计的手部是双手臂，并且为双支点回转型V型手指。液压系统具有结构简单，便于维护和维修，自身具有润滑功能等优点。 数控车床上下料机械手，特点是结构精巧，占地面积小，动作简捷，功能全，可靠性高。 关键词：工业机器人；机械手；液压系统； Abstract Practice a certificate, the i
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ndustrial robot; Machi
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nd;The liquid presses system;The liquid presses 目录 第一章绪论1 1.1机械手概述1 1.1机械手的定义与分类2 1.2机械手的组成和分类2 1.2.1机械手的组成2 1.2.2机械手的分类5 1.3国内外发展状况7 1.4课题的提出及主要任务8 1.4.1课题的提出8 1.4.2课题的主要任务9 第二章机械手的设计方案10 2.1工况分析10 2.2机械手的坐标型式与自由度11 2.3机械手的手部结构方案设计12 2.4机械手的手腕结构方案设计12 2.5机械手的手臂结构方案设计13 2.6机械手的驱动方案设计15 2.7机械手的主要参数16 2.8机械手的技术参数列表16 第三章手部结构设计18 3.1夹持式手部结构18 3.2手指的形状和分类18 3.3设计时考虑的几个问题18 3.4手部夹紧液压缸的设计19 第四章手臂结构设计23 4.1对臂部设计的基本要求23 4.2手臂升降部分23 4.2.1手臂升降部分结构设计23 4.2.2升降液压缸的设计24 4.3手臂回转部分26 4.3.1手臂的运动要求26 4.3.2手臂设计计算27 4.3.3齿轮的设计计算27 4.3.4齿条的设计计算28 4.3.5手臂横梁的选取和计算28 结论30 致谢31 参考文献32