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1、摘 要 畢業(yè)設(shè)計(jì)說明書 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)包含全部說明書及三維圖紙和部分CAD圖紙QQ229780692 、 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

2、。并簡要的介紹了工業(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)簡單，便于維護(hù)和維修，自身具有潤滑功能等優(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

3、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)和長期頻繁、單調(diào)的操作，采用機(jī)械手是非常有效的。在繁重的條件下進(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 7 Abstract Abstract This issue is for the automatic processing lines at the extract forging of shaft parts designed for loading manipulator. In this

4、paper, the manipulator of the overall plan for the design, determine the coordinates of the mechanical hand type, 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 s

5、uch as hand and use PRO-E drawing of the maps which are lifter parts of loading manipulator, the structure of the 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 c

6、omposition and classification, manipulator freedom and coordinates the basic type of knowledge The demand of the 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.

7、 Has four degrees of freedom. The arm of the Rotary installations in the rack gear, hydraulic cylinders on the drive 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 f

8、inger-hold at the start of the shaft and put aside. The pressure to replace the hand-can crawl different series of 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 ar

9、ms lifting and the fingers constriction all use the hydraulic system. The practice proved that the industry manipulator may replace the manpower the strenuous labor, obviously reduces workers labor intensity, thus raises the economic efficiency. In the industrial production appears frequently unwie

10、ldy work piece transporting and long-term frequent, monotonous operation, uses the manipulator is very effective. Operation which carries on under the arduous condition, demonstrates its superiority, has the broad career development. KeyWords：Industrial robots; manipulator; hydraulic system; Hyd

11、raulic 目 錄 目　　錄 摘　　要 I Abstract II 第一章 緒 論 1 1.1機(jī)械手概述 1 1.2機(jī)械手的組成和分類 2 1.2.1機(jī)械手的組成 2 1.2.2機(jī)械手的分類 5 1.3 國內(nèi)外發(fā)展?fàn)顩r 7 1.4課題的提出及主要任務(wù) 8 1.4.1課題的提出 8 1.4.2課題的主要任務(wù) 10 第二章 機(jī)械手的方案設(shè)計(jì) 11 2.1機(jī)械手的座標(biāo)型式與自由度 11 2.2 機(jī)械手的手部結(jié)構(gòu)方案設(shè)計(jì) 11 2.3 機(jī)械手的手臂結(jié)構(gòu)方案

12、設(shè)計(jì) 13 2.4 機(jī)械手的驅(qū)動(dòng)方案設(shè)計(jì) 14 2.5 機(jī)械手的控制方案設(shè)計(jì) 17 2.6機(jī)械手的工作情況分析 17 2.7機(jī)械手的動(dòng)作流程要求分析 17 2.8原始數(shù)據(jù)資料 18 第三章 手部結(jié)構(gòu)設(shè)計(jì) 20 3.1 手部的形狀和分類 20 3.2設(shè)計(jì)時(shí)考慮的幾個(gè)問題 21 3.3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) 27 4.1 手臂伸縮部分 27 4.1.1 結(jié)構(gòu)設(shè)計(jì) 27 4.1.2手臂伸縮液壓缸的設(shè)計(jì) 27 4.2 手臂回轉(zhuǎn)部分 31 4.2.1手臂的運(yùn)動(dòng)要求 31 4.2.2手臂設(shè)計(jì)計(jì)算 31 4.2.3.齒輪的設(shè)計(jì)計(jì)算 32 4.2.4.軸承壽命的計(jì)算 37 4.2.5鍵聯(lián)接的強(qiáng)度校核 40 第五章 PRO-E設(shè)計(jì)的總結(jié) 42 5.1 PRO-E簡介 42 5.2 PRO-E優(yōu)缺點(diǎn) 42 第六章 機(jī)械手的定位與平穩(wěn)性 43 6.1常用的定位方式 43 6.2影響平穩(wěn)性和定位精度的因素 43 6.3機(jī)械手運(yùn)動(dòng)的緩沖裝置 44 結(jié) 論 45 致 謝 46 參考文獻(xiàn) 47 參考文獻(xiàn) 附 錄