沖床上下料機械手

摘  要
本論文主要介紹了沖床上下料機械手的設(shè)計過程。在查閱了一系列參考資料以后，參閱國內(nèi)的設(shè)計情況。選用圓柱座標和三自由度。機械手的各執(zhí)行機構(gòu)，包括:手部、手臂等部。用氣流負壓式吸盤來吸取板料工件。
在分析了具體工作要求，對個方案進行對比之后，綜合考慮各個因素。機械手腰部的旋轉(zhuǎn)運動需要一定的定位控制精度，故采用步進電機驅(qū)動來實現(xiàn)；因為采用液壓執(zhí)行缸來做水平手臂和垂直手臂，故大小臂均采用液壓驅(qū)動；機械手的手部結(jié)構(gòu)設(shè)計，因為工件是板料，使用氣流負壓式吸盤.采用氣動驅(qū)動。

關(guān)鍵詞：沖床 機械手 負壓吸盤

Abstract
The present paper mainly introduced on the punch press the yummy treats manipulator's design process. After having consulted a series of reference, refers to the domestic design situation. Selects the circular cylindrical coordinate and three degrees-of-freedom. Manipulator's each implementing agency, including: Hand, arm and so on. Absorbs the sheet work piece with the air current negative pressure type sucker. In has analyzed the concrete work requirement, carries on the contrast after a plan, overall eva luation each factor. The manipulator waist's rotary motion needs certain positioning control precision, therefore uses step-by-steps the motor-driven to realize; Because uses the hydraulic pressure execution cylinder to make the horizontal arm and the vertical arm, therefore the big and small arm uses the hydraulic pressure actuation; Manipulator's hand structural design, because the work piece is the sheet, use air current negative pressure type sucker. Uses the air-operated drive.

key words:   Punch press   manipulator   negative pressure sucker

目  錄
摘要..................................................................I
ABSTRACT..............................................................II
緒論 1
1  機械手概述 2
1.1  機械手的組成 2
2  機械手的總體設(shè)計 4
2.1.1 機械手總體結(jié)構(gòu)的類型............................................4
2.1.2 設(shè)計具體采用方案 5
2.2   機械手腰座結(jié)構(gòu)的設(shè)計 6
2.2.1 機械手腰座設(shè)計的具體采用方案....................................7
2.3   機械手手臂的結(jié)構(gòu)設(shè)計 7
2.3.1 設(shè)計具體采用方案 ...............................................8
2.4   機械手的手部結(jié)構(gòu)方案設(shè)計 9
2.5  機械手的機械傳動機構(gòu)的設(shè)計 9
2.6  設(shè)計具體采用方案 12
2.7機械手驅(qū)動系統(tǒng)的設(shè)計 12
2.7.1設(shè)計具體采用方案................................................19
3  理論分析和設(shè)計計算 19
3.1液壓傳動系統(tǒng)設(shè)計計算 19
3.1.2擬定液壓執(zhí)行元件運動控制回路.................................. .21
3.1.3確定液壓系統(tǒng)的主要參數(shù)..........................................22
3.1.3.液壓缸主要參數(shù)的確定...........................................23
3.1.4計算和選擇液壓元件..............................................25
3.2電機選型和有關(guān)計算 27
3.2.1有關(guān)參數(shù)的計算 27
3.2.2電機型號的選擇 28
3.3吸盤部件的選擇和計算 30
3.3.1真空發(fā)生器選定及吸著響應(yīng)時間計算 32
3.3.2其它氣動元件選定 34
結(jié)論 35
參考文獻 36
致謝 ..............................................................37