鍛機(jī)上料機(jī)械手三維設(shè)計(jì)

1、畢業(yè)設(shè)計(jì)說(shuō)明書設(shè)計(jì)題目：鍛機(jī)上料機(jī)械手三維設(shè)計(jì)學(xué)生姓名： 學(xué) 號(hào)：專業(yè)班級(jí)： 學(xué) 部：指導(dǎo)教師：本設(shè)計(jì)包含全部說(shuō)明書及三維圖紙和部分CAD圖紙QQ 、摘要本課題是為軸類零件精鍛自動(dòng)線而設(shè)計(jì)的上料機(jī)械手。本文對(duì)機(jī)械手進(jìn)行了總體方案的設(shè)計(jì)，確定了機(jī)械手的座標(biāo)型式，自由度和機(jī)械手的技術(shù)參數(shù)。并分別確定了該機(jī)械手的手臂回轉(zhuǎn)機(jī)構(gòu)，手臂的升降機(jī)構(gòu)，夾緊式手部結(jié)構(gòu)以及手部更換裝置等、并利用PRO-E繪制了上料機(jī)械手升降機(jī)構(gòu)，連接件結(jié)構(gòu)，手臂裝配圖，手腕結(jié)構(gòu)，手部結(jié)構(gòu)圖。并簡(jiǎn)要的介紹了工業(yè)機(jī)器人的概念，機(jī)械手的組成和分類，機(jī)械手的自由度和座標(biāo)型式等基本知識(shí)。題目的設(shè)計(jì)要求是該機(jī)械手能將軸類零件從一點(diǎn)搬運(yùn)到另外

2、一點(diǎn)，因此具有回轉(zhuǎn)和升降功能便能滿足設(shè)計(jì)要求。故采用了類似圓柱坐標(biāo)的型式。具有四個(gè)自由度。手臂的回轉(zhuǎn)裝置采用了齒輪機(jī)構(gòu)，依靠液壓缸的驅(qū)動(dòng)實(shí)現(xiàn)了手臂的升降運(yùn)動(dòng)。由于工作對(duì)象為軸徑結(jié)構(gòu)，手部是通過(guò)手指伸縮缸，推動(dòng)桿以及夾緊式手指實(shí)現(xiàn)對(duì)軸類零件的抓起和放下。更換手部的手指可以抓取不同系列的產(chǎn)品。這樣擴(kuò)大了該機(jī)械手的使用范圍。由于液壓系統(tǒng)具有結(jié)構(gòu)簡(jiǎn)單，便于維護(hù)和維修，自身具有潤(rùn)滑功能等優(yōu)點(diǎn)，手臂的升降和手指的收縮機(jī)構(gòu)都采用了液壓系統(tǒng)。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，從而提高經(jīng)濟(jì)效益。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)械手是非常有效的。在

3、繁重的條件下進(jìn)行的操作，更顯示其優(yōu)越性，有著廣闊的發(fā)展前途。關(guān)鍵詞：工業(yè)機(jī)器人；機(jī)械手；液壓系統(tǒng)；液壓AbstractThis issue is for the automatic processing lines at the extract forging of shaft parts designed for loading manipulator. In this paper, the manipulator of the overall plan for the design, determine the coordinates of the mechanical hand type

4、, freedom and manipulator of technical parameters. Were identified and the manipulator arm of the Rotary, the movements of arms, hand-hold in the structure and the replacement of devices such as hand and use PRO-E drawing of the maps which are lifter parts of loading manipulator, the structure of th

5、e connection assembly,the arms Assembly, the structure of the wrist, the structure of the hand, and other parts map. And briefly introduced the concept of industrial robots, robot on the composition and classification, manipulator freedom and coordinates the basic type of knowledgeThe demand of the

6、subject is that the maniplator can move the shaft from one place to the other place.So it need to have the lifting and revolving function.Using a similar type of cylindrical coordinates. Has four degrees of freedom. The arm of the Rotary installations in the rack gear, hydraulic cylinders on the dri

7、ve to achieve the movements of the arms . As the objects of their work for the aperture structure, the hand through the fingers stretching cylinder, and at promoting the realization of finger-hold at the start of the shaft and put aside. The pressure to replace the hand-can crawl different series of

8、 products. This has expanded the scope of the use of mechanical hand.Because the structure of the hydraulic system is simpleness,it is easy to mainten.Also it can lubricate itself.The arms lifting and the fingers constriction all use the hydraulic system.The practice proved that the industry manipul

9、ator may replace the manpower the strenuous labor, obviously reduces workers labor intensity, thus raises the economic efficiency. In the industrial production appears frequently unwieldy work piece transporting and long-term frequent, monotonous operation, uses the manipulator is very effective. Op

10、eration which carries on under the arduous condition, demonstrates its superiority, has the broad career development. KeyWords：Industrial robots; manipulator; hydraulic system; Hydraulic目錄摘要IAbstractII第一章 緒 論11.1機(jī)械手概述11.2機(jī)械手的組成和分類21.2.1機(jī)械手的組成21.2.2機(jī)械手的分類51.3 國(guó)內(nèi)外發(fā)展?fàn)顩r71.4課題的提出及主要任務(wù)81.4.1課題的提出81.4.2課題的主要任務(wù)10第二章 機(jī)械手的方案設(shè)計(jì)112.1機(jī)械手的座標(biāo)型式與自由度112.2 機(jī)械手的手部結(jié)構(gòu)方案設(shè)計(jì)112.3 機(jī)械手的手臂結(jié)構(gòu)方案設(shè)計(jì)132.4 機(jī)械手的驅(qū)動(dòng)方案設(shè)計(jì)142.5 機(jī)械手的控制方案設(shè)計(jì)172.6機(jī)械手的工作情況分析172.7機(jī)械手的動(dòng)作流程要求分析172.8原始數(shù)據(jù)資料18第三章 手部結(jié)構(gòu)設(shè)計(jì)203.1 手部的形狀和分類203.2設(shè)計(jì)時(shí)考慮的幾個(gè)問(wèn)題213.3手部夾緊機(jī)構(gòu)的設(shè)計(jì)21第四章 手臂結(jié)構(gòu)設(shè)計(jì)274.1 手臂伸縮部分274.1.1 結(jié)構(gòu)設(shè)計(jì)274.1.2手臂伸縮液壓缸的設(shè)計(jì)274.2 手臂回轉(zhuǎn)部分314.2.1手臂的運(yùn)動(dòng)要求314.2.2