工业机械手毕业论文

成都电子机械高等专科学校毕业论文I摘要本文所设计的工业机械手用于搬运工件，工件总重30Kg,长50cm,宽30cm，高20cm，臂总长为1.8m。为了增加本机械手的通用性，在结构尽可能紧凑的情况下，最大限度地使工业机械手具有较大的抓取范围。本文主要介绍了工业机械手的概念、组成和分类，机械手的自由度和坐标形式、运动及国内外的发展状况。对工业机械手进行总体方案设计，首先确定了机械手的坐标形式为圆柱坐标型，自由度数为5，接着确定了机械手的驱动装置为液压缸，然后确定了机械手的主要技术参数。同时，设计了机械手的手部结构形式为滑槽杠杆式钳爪、手腕的结构形式为采用电机带动腕回转、臂部结构形式采用双导向杆导向，机身结构形式为升降缸置于回转缸之上的结构形式，计算出了夹紧工件所需的驱动力、手腕转动时所需的驱动力矩、手臂伸缩所需的驱动力、手臂俯仰所需的驱动力、手臂升降所需的驱动力和手臂回转所需的驱动力矩。继而设计了工业机械手的各个部分液压缸的尺寸和结构及各个部分之间连接与支承部件的结构与尺寸。关键词：工业机械手，液压驱动，液压缸。成都电子机械高等专科学校毕业论文IIAbstractThedesignoftheindustrialrobotusedforcarryingworkpieces,workpiece,grossweight,wide30Kg30cmlongcentimetershigh,chiefof1.820cmm.Inordertoincreasethegeneralityofthemanipulator,asfaraspossibleinthestructureiscompact,underthesituationofutmostgroundtoindustrialrobotshavelargergrabrange.Thisdesignofintroducestheconceptofindustrialrobots,compositionandclassificationofthemanipulator,freedomandcoordinates,sportsandthedevelopmentathomeandabroad.Forindustrialrobotsareoveralldesignofmanipulator,thefirstidentifiedforcylindricalcoordinatescoordinatestype,freedegree,thendeterminedforfiveofthemanipulatordevicedriversforthehydrauliccylinder,thendeterminesthemaintechnicalparametersoftherobot.Atthesametime,thedesignofmanipulatorhandstructureslidingchannelforleveragedplier,wristmotordrivenbystructureformforturningwrist,armadoptsdoubleguidebarstructureform,thestructureandformtoturnoverinthecylindercylinderstructureform,calculatedtheclampingworkpiece,thedrivingforceforthewristcurlsdrivingtorquearm,thedrivingforceforexpansion,theforcerequiredarmspitch,armmovementsofthearmsanddrivingforcefordrivingtorquerequiredrotation.Thenthedesignofindustrialrobotseachpartofhydrauliccylindersizeandstructureandconnectionbetweenthepartsandcomponentsofsupportingstructureandsize.Keywords:industrialrobots,hydraulicdrive,hydrauliccylinder.成都电子机械高等专科学校毕业论文第3页目录摘要............................................................................................................................................................IABSTRACT..................................................................................................................................................II1绪论........................................................................................................................................................11.1工业机械手的含义.................................................................................................................11.2工业机械手的产生、应用与发展................................................................................................11.3工业机械手的组成与运动............................................................................................................52工业机械手的手部设计......................................................................................................................132.1概述..............................................................................................................................................132.2手部机构形式..............................................................................................................................132.3钳爪式手部机构的选用要点......................................................................................................142.4滑槽杠杆式钳爪的夹紧力分析与计算.....................................................................................152.5滑槽杠杆式钳爪手部机构的驱动力计算.................................................................................172.6手部夹紧液压缸的设计与计算.................................................................................................183工业机械手的腕部设计.....................................................................................................................213.1概述.............................................................................................................................................213.2腕部回转力矩的计算.................................................................................................................224工业机械手臂部的设计.....................................................................................................................244.1概述..............................................................................................................................................244.2工业机械手臂部的结构形式......................................................................................................254.3工业机械手臂部运动驱动液压缸的设计与计算......................................................................284.4工业机械手的液压缓冲装置......................................................................................................345结论......................................................................................................................................................355.1工业机械手主要规格参数..........................................................................................................355.2设计总结.....................................................................................................................................356致谢.............................................