搬运机械手的设计

第1页毕业设计（论文）（说明书）题目：搬运机械手的设计姓名：编号：XXXXX学院年月日第2页摘要本课题设计的为通用圆柱坐标系机械手。工业机械手是工业生产的必然产物，它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的自动化技术设备，对实现工业生产自动化，推动工业生产的进一步发展起着重要作用。因而具有强大的生命力受到人们的广泛重视和欢迎。实践证明，工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。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，采用机械手是有效的。此外，它能在高温、低温、深水、宇宙、放射性和其他有毒、污染环境条件下进行操作，更显示其优越性，有着广阔的发展前途。通过对机械手进行结构设计和液压传动原理设计，它能实现自动上料运动，自动搬运棒料。机械手的运动速度是按着满足生产率的要求来设定。关键词：搬运机械手,手爪,手腕,手臂,液压，PLC第3页AbstractThistopicdesignforgeneralcylindricalcoordinatemanipulator.Industrialmachineryhandistheinevitableproductofindustrialproduction,itisacopyoftheupperpartofthehumanbodyfunctions,inaccordancewithapredeterminedtransferrequestortheworkpieceholdthetoolstooperatetheequipmentautomationtechnology,toachieveindustrialproductionautomation,thepromotionofindustrialproductionofthefurtherdevelopmentplaysanimportantrolein.Sotheyhavestrongvitalityofthepeoplebytheextensiveattentionandwelcome.Practicehasproved,theindustrialrobotcanreplacethestaffoftheheavylabor,significantlyreducedlaborintensityofworkers,improveworkingconditions,improvelaborproductivityandthelevelofautomation.Industrialproductionoftenappearsinthebulkyworkpiecehandlingandfrequentlong-term,monotonousoperation,amechanicalhandtobeeffective.Inaddition,itcanbeinhightemperature,lowtemperature,water,theuniverse,radioactiveandothertoxic,pollutionoftheenvironmentundertheconditionsofoperation,butalsoshowitssuperiority,therearebroaddevelopmentprospects.Throughthemechanicalhandforstructuredesignandthehydraulictransmissionprincipledesign,itcanrealizetheautomaticfeeding,automatichandlingbar.Themanipulatormotionspeedistomeettherequirementstosettheproductivity.Keywords:manipulator,gripper,wrist,arm,hydraulic,PLC第4页目录摘要....................................................................................................................................................................................2ABSTRACT......................................................................................................................................................................3第一章绪论......................................................................................................................................................................51.1搬运机械手的组成.................................................................................................................................................51.2设计的主要内容.....................................................................................................................................................6第二章搬运机械手执行机构的设计..............................................................................................................................82.1手部设计计算.........................................................................................................................................................82.1.1对手部设计的要求.........................................................................................................................................82.1.2拉紧装置原理.................................................................................................................................................92.1.3手部驱动力的计算.........................................................................................................................................92.2腕部回转设计计算................................................................................................................................................122.2.1腕部的结构形式..........................................................................................................................................122.2.2手腕驱动力矩的计算...................................................................................................................................132.3手臂伸缩机构设计计算........................................................................................................................................152.4手臂升降机构设计...............................................................................................................................................162.4.1尺寸设计......................................................................................................................................................172.4.2尺寸校核.......................................................................................................................................................182.5手臂回转机构设计...............................................................................................................................................192.5.1计算扭矩M1................................................................................................................................................202.5.2机构工作参数总结：...................................................................................................................................212.6液压泵的初选择............................................................................................................................................