液壓機械手設計

目錄
中文摘要………………………………………………………………………………I
英文摘要………………………………………………………………………………II
第一章抓取機構設計…………………………………………………………………1
1.1手部設計計算…………………………………………… ………… ……1
1.2腕部設計計算………………………………………………………………4
1.3臂伸縮機構設計……………………………………………………………6
第二章液壓系統(tǒng)原理設計及草圖……………………………………………………10
2.1手部抓取缸…………………………………………………………………10
2.2腕部擺動液壓回路…………………………………………………………12
2.3小臂伸縮缸液壓回路………………………………………………………13
2.4總體系統(tǒng)圖…………………………………………………………………14
第三章機身機座的結構設計…………………………………………………………15
3.1電機的選擇…………………………………………………………………16
3.2減速器的選擇………………………………………………………………17
3.3螺柱的設計與校核…………………………………………………………18
第四章機械手的定位與平穩(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機械手運動的緩沖裝置……………………………………………………21
第五章機械手的控制…………………………………………………………………24
第六章機械手的組成與分類…………………………………………………………25
6.1機械手的組成………………………………………………………………25
6.2機械手分類…………………………………………………………………26
結束……………………………………………………………………………………28
致謝……………………………………………………………………………………29
參考資料………………………………………………………………………………30
 
摘要

工業(yè)機械手是工業(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，按照預定要求輸送工件或握持工具進行操作的自動化技術設備，對實現(xiàn)工業(yè)生產(chǎn)自動化，推動工業(yè)生產(chǎn)的進一步發(fā)展起著重要作用。因而具有強大的生命力受到人們的廣泛重視和歡迎。實踐證明，工業(yè)機械手可以代替人手的繁重勞動，顯著減輕工人的勞動強度，改善勞動條件，提高勞動生產(chǎn)率和自動化水平。工業(yè)生產(chǎn)中經(jīng)常出現(xiàn)的笨重工件的搬運和長期頻繁、單調(diào)的操作，采用機械手是有效的。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)境條件下進行操作，更顯示其優(yōu)越性，有著廣闊發(fā)展前途。

關鍵字   機械手；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