目录 摘要·················································Ⅰ ABSTRACT ·············································Ⅱ 第一章绪论············································1 1.1课题背景及目的·········································1 1.2本课题研究的意义······································1 1.3自动上下料机构的组成分类及特点························2 第二章总体设计方案····································3 2.1机械手设计要求········································3 2.2动作要求分析··········································4 2.3机械手的基本形式······································4 2.4机械手材料的选择······································5 2.5自动上下料机构布局拟定································5 2.6驱动方式的选择········································7 2.7 CK6140型数控车床的主要参数····························8 第三章机械手结构设计··································9 3.1手部的设计·············································9 3.1.1手部的概述··········································9 3.1.2机械手部的典型结构··································9 3.1.3手爪设计原则········································12 3.1.4机械式手爪设计······································12 3.1.5手部驱动力计算······································13 3.2臂部的设计············································16 3.2.1手臂的常用机构······································17 3.2.2手臂设计原则········································17 3.2.3臂部驱动力计算······································18 3.3机身的设计············································21 3.3.1机身的整体设计······································21 3.3.2机身回转机构的设计计算······························24 3.3.3机身升降液压缸的设计计算····························26 第四章机械手的运动分析·······························33 4.1液压缸的设计选择······································33 4.2机械手的手爪的运动····································34 4.3机械手的臂部的运动····································34 4.4机械手的整体运动分析··································34 总结···················································36 致谢···················································37 参考文献···············································38 摘要 本课题主要进行生产线轴套类零件自动上下料机构设计，该设计属于机械手的一部分，生产线轴套类零件自动上下料机构是在机械化、自动化生产过程中发展的一种新型装置，实现了胚料的抓取、自动定位、夹紧以及工件的回放。机械手能代替人类重复完成枯燥危险的工作，提高劳动生产力，减轻人的劳动强度。该机构涵盖了位置控制技术、可编程序控制技术、检测技术等。本课题设计的液压机械手可在空间抓放物体，动作灵活多样。根据工件的变化及生产技术的要求随时更改相关参数，可代替人工在高温危险区进行作业。 关键词：机械手轴套类零件自动上下料机构提升旋转 ABSTRACT This topic mai
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n 第一章绪论 1.1课题背景及目的 纵观目前我国的发展情况,如果把万能车床改成自动或半自动机床，那么就能充分发挥万能机床的潜力,这对制造业的生产无疑是有重大意义的。机床的自动上下料机构,是制造车间里重要的组成部分。于是，该机构应该与自动机床和自动线一起设计。 在自动化加工的装配生产线中,能自动完成将工件向加工或装配机械供给并上下料的机构，称为自动上下料机构。自动上下料机构就是为完成让毛坯自动地选择加工位置，准确的定位、夹紧以及取下加工完的零件所必须的许多功能的总和。