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搬运机械手的设计概述.docx
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搬运机械手的设计概述.docx
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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
![](https://csdnimg.cn/release/download_crawler_static/88334535/bg2.jpg)
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
![](https://csdnimg.cn/release/download_crawler_static/88334535/bg3.jpg)
Abstract
This topic design for general cylindrical coordinate manipulator. Industrial machinery hand is
the inevitable product of industrial production, it is a copy of the upper part of the human body
functions, in accordance with a predetermined transfer request or the workpiece hold the tools to
operate the equipment automation technology, to achieve industrial production automation, the
promotion of industrial production of the further development plays an important role in. So they
have strong vitality of the people by the extensive attention and welcome. Practice has proved, the
industrial robot can replace the staff of the heavy labor, significantly reduced labor intensity of
workers, improve working conditions, improve labor productivity and the level of automation.
Industrial production often appears in the bulky workpiece handling and frequent long-term,
monotonous operation, a mechanical hand to be effective. In addition, it can be in high temperature,
low temperature, water, the universe, radioactive and other toxic, pollution of the environment
under the conditions of operation, but also show its superiority, there are broad development
prospects.
Through the mechanical hand for structure design and the hydraulic transmission principle
design, it can realize the automatic feeding, automatic handling bar. The manipulator motion speed
is to meet the requirements to set the productivity.
Key words: manipulator, gripper, wrist, arm, hydraulic, PLC
目录
![](https://csdnimg.cn/release/download_crawler_static/88334535/bg4.jpg)
摘要 ......................................................................................................................................................................................1
ABSTRACT ........................................................................................................................................................................2
第一章 绪论 ........................................................................................................................................................................4
1.1 搬运机械手的组成...................................................................................................................................................4
1.2 设计的主要内容.......................................................................................................................................................5
第二章 搬运机械手执行机构的设计................................................................................................................................7
2.1 手部设计计算...........................................................................................................................................................7
2.1.1 对手部设计的要求...........................................................................................................................................7
2.1.2 拉紧装置原理...................................................................................................................................................8
2.1.3 手部驱动力的计算...........................................................................................................................................8
2.2 腕部回转设计计算..................................................................................................................................................11
2.2.1 腕部的结构形式............................................................................................................................................11
2.2.2 手腕驱动力矩的计算.....................................................................................................................................12
2.3 手臂伸缩机构设计计算..........................................................................................................................................14
2.4 手臂升降机构设计.................................................................................................................................................15
2.4.1 尺寸设计........................................................................................................................................................16
2.4.2 尺寸校核.........................................................................................................................................................17
2.5 手臂回转机构设计.................................................................................................................................................18
2.5.1 计算扭矩 M1 ..................................................................................................................................................19
2.5.2 机构工作参数总结:.....................................................................................................................................20
2.6 液压泵的初选择......................................................................................................................................................20
第三章 搬运机械手驱动系统的设计..............................................................................................................................23
3.1 手部抓取缸.............................................................................................................................................................23
3.2 腕部摆动液压回路.................................................................................................................................................24
3.3 手臂伸缩液压缸回路.............................................................................................................................................25
3.5 手臂回转摆动缸回路.............................................................................................................................................26
3.6 总体系统图.............................................................................................................................................................26
第四章 搬运机械手控制系统的设计..............................................................................................................................29
4.1 机械手的模拟工作过程.........................................................................................................................................29
4.2 机械手的操作原理..................................................................................................................................................31
4.3 机械手传送系统梯形图.........................................................................................................................................31
参考文献 ............................................................................................................................................................................34
致谢 ....................................................................................................................................................................................35
第一章 绪论
![](https://csdnimg.cn/release/download_crawler_static/88334535/bg5.jpg)
1.1 搬运机械手的组成
搬运机械手主要由执行机构、驱动系统、控制系统以及位置检测装置等所组成
图 1.1 搬运机械手的动作顺序和检测元件、执行元件的布置示意图
1.执行机构:包括手部、手腕、手臂和立柱等部件
手部:是机械手与工件接触的部件。由于与物体接触的形式不同,可分为夹持式和吸附
式手部。由于本课题的工件是圆柱状棒料,所以采用夹持式。由手指和传力机构所构成,手
指与工件接触而传力机构则通过手指夹紧力来完成夹放工件的任务。
手腕:是联接手部和手臂的部件,起调整或改变工件方位的作用。
手臂:支承手腕和手部的部件,用以改变工件的空间位置。
立柱:是支承手臂的部件。手臂的回转运动和升降运动均与立柱有密切的联系。机械手
的立柱通常为固定不动的。
机座:是机械手的基础部分。机械手执行机构的各部件和驱动系统均安装于机座上,故
起支承和联接的作用。
2.驱动系统:机械手的驱动系统是驱动执行运动的传动装置。常用的有液压传动、气压
传动、电力传动和机械传动等四种形式。
3.控制系统:控制系统是机械手的指挥系统 ,它控制驱动系统,让执行机构按规定的要
求进行工作,并检测其正确与否。一般常见的为电器与电子回路控制,计算机控制系统也不
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