兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手的設(shè)計(jì)

1、兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手的設(shè)計(jì)摘 要數(shù)控機(jī)床的發(fā)展與應(yīng)用，大大降低了零件的加工輔助時(shí)間，提高了生產(chǎn)效率。隨著數(shù)控機(jī)床的普及應(yīng)用，機(jī)械加工的自動(dòng)化程度大大提高，數(shù)控機(jī)床發(fā)展成了當(dāng)今普遍應(yīng)用的一種更新、更先進(jìn)的制造設(shè)備。加工中心帶有刀庫和自動(dòng)換刀裝置，可以實(shí)現(xiàn)按照預(yù)定程序?qū)ぜM(jìn)行多工序加工。本文首先對兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手的設(shè)計(jì)情況進(jìn)行了總體概述，然后對所設(shè)計(jì)的機(jī)械手的組成部分、工作原理、驅(qū)動(dòng)方式、控制方式等設(shè)計(jì)方案進(jìn)行了詳細(xì)敘述。對一些主要零部件進(jìn)行了校核計(jì)算與軟件分析。完成了兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手的總體設(shè)計(jì)，滿足了機(jī)械手換刀的設(shè)計(jì)要求。關(guān)鍵詞：機(jī)械加工；數(shù)控機(jī)床；平行；

2、換刀；機(jī)械手AbstractThe development and application of numerical control machine tool greatly reduces the processing assistant time and improves the production efficiency. With the popularization and application of numerical control machine tools, the degree of automation of machining is greatly improved.

3、 Machining center with a knife and automatic tool changer device, can be achieved in accordance with the scheduled procedures for the work of multi process.Firstly, parallel to the hands of the rotary arm hands manipulator design of general overview, then part of the design of the manipulator, worki

4、ng principle, drive mode, control design scheme are discussed in detail. The calculation and analysis of some main parts of the main components are carried out. Complete the overall design of two parallel rotary arm hands manipulator, meet the design requirements of mechanical hand tool change.Keywo

5、rds：machining,CNC,parallel,tool changing,manipulator目錄摘 要IAbstractII第1章 緒論11.1 課題背景及研究的目的和意義11.2 數(shù)控機(jī)床換刀機(jī)械手的發(fā)展概況21.2.1 數(shù)控機(jī)床換刀機(jī)械手的發(fā)展21.2.2 數(shù)控機(jī)床換刀機(jī)械手國內(nèi)外研究現(xiàn)狀31.3 本文的主要研究內(nèi)容4第2章 機(jī)械手總體設(shè)計(jì)方案52.1 引言52.2 兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手設(shè)計(jì)要求52.3 兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手工作原理62.4 兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手結(jié)構(gòu)方案72.4.1 機(jī)械手手部72.4.2 回轉(zhuǎn)擺動(dòng)部分72.4.3 直線升降及機(jī)架部

6、分82.5 兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手驅(qū)動(dòng)方案82.6兩手平行的回轉(zhuǎn)式單臂雙手機(jī)械手控制方案122.7 本章小結(jié)13第3章 機(jī)械手的設(shè)計(jì)143.1 引言143.2 機(jī)械手手部機(jī)構(gòu)設(shè)計(jì)143.2.1 機(jī)械手手爪的設(shè)計(jì)143.2.2 手爪連接機(jī)構(gòu)的設(shè)計(jì)153.2.3 導(dǎo)軌板的設(shè)計(jì)173.2.4 手爪驅(qū)動(dòng)液壓缸的選型223.2.5 外殼233.3 機(jī)械手回轉(zhuǎn)換刀機(jī)構(gòu)設(shè)計(jì)253.3.1 機(jī)械手180°回轉(zhuǎn)換刀驅(qū)動(dòng)液壓缸選型253.3.2 90°擺動(dòng)驅(qū)動(dòng)液壓缸的選型253.3.3 連接結(jié)構(gòu)設(shè)計(jì)263.4 機(jī)械手升降機(jī)構(gòu)及機(jī)架設(shè)計(jì)283.4.1 直線導(dǎo)向軸的選型293.4.2 滑塊303.4