机械5

基于CATIA的五自由度液压机械手臂结构设计 摘要 随着机械的发展，很多各种新型的设备被广泛的用到各行各业当中，尤其是这些搬运机械手和机械手器人，也是被用到比如物流港口以及机械加工行业，能够取代人工实现高效率的作业要求，有着非常好的操作性能，特别是对于各种不同复杂的工作环境当中，有着比较好的适应性，尤其是在矿石和建筑中往往通过人工码垛物品的话，存在一定的危险性，并且对于部分的材料重量都比较大，人工作业效率非常的低。机械手的使用也是近些年普及起来的，由于有着各方面的优点，因此受到各行各业的偏好，目前市场需求量也比较大，对于制造企业来说也是一个比较好的机遇，在工艺和性能上设计出一款更能满足市场要求的码垛设备，更有优势。 本次设计的五自由度液压机械手，主要是结合目前市面上的各种液压机械手结构，满足用在对于物料的抓取要求，结构主要使用液压缸驱动，实现五个自由度的动作，设计的任务涵盖结构的方案确定，以及主要零部件的计算校核。。并通过画图软件完成整个五自由度液压机械手的零部件和整体结构的图纸。 关键词：液压机械手；五自由度；夹持手爪 Abstract With the developme
nt of machi
nery, ma
ny
new types of equipme
nt arewidely used i
n allwalks of life. Especially, these ha
ndli
ng robots a
nd palletizi
ng robots are also used, such as logistics port a
nd machi
ni
ng i
ndustry,which ca
n replace the efficie
nt operatio
n requireme
nts, a
nd havevery good operati
ng performa
nce, especially for the operatio
n. I
n avariety of differe
nt complexworki
ng e
nviro
nme
nt, there is a better adaptability, especially i
n ore a
nd buildi
ng ofte
n through artificial palletizi
ng items, there is a certai
n risk, a
nd some of the materialweight is relatively large, the efficie
ncy of ma
nualwork isvery low. The use of palletizi
ng machi
ne is also popular i
n rece
ntyears. Because of the adva
ntages of all aspects, it is preferred by allwalks of life, a
nd the dema
nd of the market is relatively large. It is also a good opportu
nity for the ma
nufacturi
ng e
nterprises to desig
n a palletizi
ng equipme
ntwhich ca
n meet the requireme
nts of the market more i
n process a
nd performa
nce. Adva
ntage. The desig
n of the five degree of freedom hydraulic ma
nipulator, mai
nly combi
nedwith the curre
nt market ofvarious hydraulic ma
nipulator structure, to meet the requireme
nts for the grasp of the material, the structure is mai
nly used hydraulic cyli
nder drive, the realizatio
n of the five degrees of freedom moveme
nt, the desig
n of the task covers the structure of the project a
nd the calculatio
n of the mai
n parts of the calculatio
n. Nuclear. A
nd complete the e
ntire five degrees of freedom hydraulic ma
nipulator parts a
nd overall structure drawi
ngs by drawi
ng software. Keywords: Hydraulic ma
nipulator; Five degree of freedom; Grippi
ng ha
nd 目录 摘要I Abstract II 目录III 引言1 第一章绪论2 1.1课题的背景和意义2 1.2机械手的发展现状及趋势3 第二章五自由度液压机械手设计方案4 2.1五自由度液压机械手系统组成及基本原理4 2.2机械手的方案确定4 第三章五自由度机械手机械结构设计6 3.1升降装置的液压油缸的设计6 3.2小臂俯仰装置的液压油缸的设计6 3.3回转装置的液压油缸的设计7 3.4纵向移动装置驱动油缸设计8 3.5导向光杆和直线轴承的设计9 第四章旋转气缸和气动夹爪的设计11 4.1旋转气缸的设计11 4.2气动夹爪的设计13 4.2.1气动夹爪的方案确定13 4.2.2夹爪机构的选用要点14 4.2.3滑槽杠杆式钳爪的夹紧力分析与计算14 4.2.4手部夹紧气缸的计算与选型16 第五章齿轮、齿条和轴的设计及校核17 5.1齿轮齿条的设计17 5.1.1齿轮齿条校核计算17 5.2回转轴的设计与校核19 5.2.1轴的尺寸确定19 5.2.2轴的强度校核20 第六章机械手液压系统设计21 6.1液压传动机械手的传动过程21 6.2拟定液压系统工作原理图21 总结23 参考文献24 谢辞25