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I抓料机械手机构设计摘要本课题设计的为抓料机械手。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。本设计拟开发的上料机械手可在空间抓放物体，动作灵活多样，可代替人工在高温和危险的作业区进行作业，可抓取重量较大的工件此外，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。本课题通过应用AutoCAD等技术对机械手进行结构设计和液压传动原理设计，它能实行自动上料运动，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。关键字机械手，AutoCAD,自动化。IIManipulatorgraspingmechanismdesignAbstractThispaperdesignedforrobotgraspingthematerial.Industrialrobotistheinevitableproductofindustrialproduction,whichisapartofhumanupperlimbfunctionmimicconveyingtheworkpiecegrippingtoolsorequipmentoperationautomationtechnologypredeterminedrequirementsofindustrialautomation,andpromotethefurtherdevelopmentofindustrialproductionplaysimportantrole.Whichhasastrongvitalitybypeoplewidelyvaluedandwelcomed.Practicehasprovedthatindustrialrobotscanreplaceheavymanuallabor,andsignificantlyreducelaborintensityandimproveworkingconditions,improvelaborproductivityandautomationlevels.Frequenthandlingandlongtermindustrialproductionoftenbulkyworkpiecemonotonicoperation,usingtherobottobeeffective.Thedesignoftheproposeddevelopmentonthefeedingrobotcanpickandplaceobjectsinspace,flexibleaction,insteadofdoingsoathightemperaturesandcanbedangerousoperationarea,youcangrabagreaterweightoftheworkpieceaddition,itinheat,cold,deepwater,operatingundertheuniverse,radioactiveandothertoxicpollutionenvironmentalconditions,butalsodemonstrateitssuperiority,hasabroaddevelopmentprospects.ThistopicthroughtheapplicationoftechnologiessuchasAutoCADmanipulatorstructuraldesignprinciplesofdesignandhydraulicIIItransmission,itcanimplementautomaticfeedingmovement,automatichandlingbar.Isthevelocityoftherobotaccordingtothesettingstomeettherequirementsofproductivity.KeywordsRobot，AutoCAD，AutomationIV目录摘要..................................................................................................................IABSTRACT.........................................................................................................II1.绪论.............................................................................................................-1-1.1本课题的目的和现实意义....................................................................................-1-1.2国内外工业机械手的发展及研究现状.............................................................-2-1.2.1发展历史.....................................................................................................-2-1.2.2现代研究趋势.............................................................................................-4-1.2.3国内发展状况.............................................................................................-5-1.2.4工业机械手的分类......................................................................................-6-1.3对工业机械手需求及其应用进行调研分析........................................................-8-1.3.1建造旋转零件体自动线方面......................................................................-8-1.3.2在实现单机自动化方面..............................................................................-8-1.3.3铸、锻、焊、热处理等方面......................................................................-8-1.4机械手的驱动方式................................................................................................-9-1.4.1液压驱动.....................................................................................................-9-1.4.2气压驱动...................................................................................................-10-2.设计前的分析............................................................................................-12-2.1课题构想与思路..................................................................................................-12-2.1.1构想...........................................................................................................-12-2.1.2思路...........................................................................................................-12-2.2主要设计内容......................................................................................................-12-2.3拟解决的关键技术..............................................................................................-13-V2.4性能指标.............................................................................................................-13-3手部结构.................................................................................................-16-3.1概述......................................................................................................................-16-3.2设计时应考虑的几个问题.................................................................................-16-3.3驱动力的计算.....................................................................................................-17-3.4两支点回转式钳爪的定位误差的分析.............................................................-19-4腕部的结构...........................................................................................-20-4.1概述................................................................