液壓機(jī)械手設(shè)計(jì)

目錄
中文摘要………………………………………………………………………………I
英文摘要………………………………………………………………………………II
第一章抓取機(jī)構(gòu)設(shè)計(jì)…………………………………………………………………1
1.1手部設(shè)計(jì)計(jì)算…………………………………………… ………… ……1
1.2腕部設(shè)計(jì)計(jì)算………………………………………………………………4
1.3臂伸縮機(jī)構(gòu)設(shè)計(jì)……………………………………………………………6
第二章液壓系統(tǒng)原理設(shè)計(jì)及草圖……………………………………………………10
2.1手部抓取缸…………………………………………………………………10
2.2腕部擺動(dòng)液壓回路…………………………………………………………12
2.3小臂伸縮缸液壓回路………………………………………………………13
2.4總體系統(tǒng)圖…………………………………………………………………14
第三章機(jī)身機(jī)座的結(jié)構(gòu)設(shè)計(jì)…………………………………………………………15
3.1電機(jī)的選擇…………………………………………………………………16
3.2減速器的選擇………………………………………………………………17
3.3螺柱的設(shè)計(jì)與校核…………………………………………………………18
第四章機(jī)械手的定位與平穩(wěn)性………………………………………………………20
4.1常用的定位方式……………………………………………………………20
4.2影響平穩(wěn)性和定位精度的因素……………………………………………20
4.3機(jī)械手運(yùn)動(dòng)的緩沖裝置……………………………………………………21
第五章機(jī)械手的控制…………………………………………………………………24
第六章機(jī)械手的組成與分類(lèi)…………………………………………………………25
6.1機(jī)械手的組成………………………………………………………………25
6.2機(jī)械手分類(lèi)…………………………………………………………………26
結(jié)束……………………………………………………………………………………28
致謝……………………………………………………………………………………29
參考資料………………………………………………………………………………30
 
摘要

工業(yè)機(jī)械手是工業(yè)生產(chǎn)的必然產(chǎn)物，它是一種模仿人體上肢的部分功能，按照預(yù)定要求輸送工件或握持工具進(jìn)行操作的自動(dòng)化技術(shù)設(shè)備，對(duì)實(shí)現(xiàn)工業(yè)生產(chǎn)自動(dòng)化，推動(dòng)工業(yè)生產(chǎn)的進(jìn)一步發(fā)展起著重要作用。因而具有強(qiáng)大的生命力受到人們的廣泛重視和歡迎。實(shí)踐證明，工業(yè)機(jī)械手可以代替人手的繁重勞動(dòng)，顯著減輕工人的勞動(dòng)強(qiáng)度，改善勞動(dòng)條件，提高勞動(dòng)生產(chǎn)率和自動(dòng)化水平。工業(yè)生產(chǎn)中經(jīng)常出現(xiàn)的笨重工件的搬運(yùn)和長(zhǎng)期頻繁、單調(diào)的操作，采用機(jī)械手是有效的。此外，它能在高溫、低溫、深水、宇宙、放射性和其他有毒、污染環(huán)境條件下進(jìn)行操作，更顯示其優(yōu)越性，有著廣闊發(fā)展前途。

關(guān)鍵字   機(jī)械手；AutoCAD；液壓

Abstract

This subject is designed lathe supporting feeding robot. Industrial robot is an inevitable product of industrial production, it is a mimic some functions of human upper limb, in accordance with the required delivery scheduled to operate the workpiece or gripping tool automation technology equipment, automation of industrial production, and promote the further development of industrial production plays important role. Has great vitality is widely valued and welcomed. Practice shows that the industrial robot can replace the heavy manual labor, significantly reduce labor intensity and improve working conditions, increase labor productivity
Industrial production often cumbersome and long-term frequent handling workpieces, monotonous operation, mechanical hands to be effective. In addition, it can heat, cold, deep water, the universe, radioactive and other toxic pollution of the environment under the conditions of operation, but also demonstrate its advantages, there are broad prospects for development.

Keyword Manipulator; AutoCAD; hydraulic