氣動通用上下料機械手設計[四自由度]【CAD圖紙和文檔終稿可編輯】,四自由度,CAD圖紙和文檔終稿可編輯,氣動,通用,上下,機械手,設計,自由度,cad,圖紙,以及,文檔,終稿可,編輯,編纂 第 1 頁 共 36 頁 目錄 1 緒論 ..............................................................................................................................1 1.1 機械手概述 ................................................................................................................1 1.2 機械手的組成和分類 ................................................................................................2 1.2.1 機械手的組成 ........................................................................................................2 1.2.2 機械手的分類 ........................................................................................................4 1.3 國內外發(fā)展狀況 ........................................................................................................6 1.4 課題的提出及主要任務 ............................................................................................8 1.4.1 課題的提出 ............................................................................................................8 1.4.2 課題的主要任務 ....................................................................................................9 2 機械手的設計方案 ....................................................................................................10 2.1 機械手的座標型式與自由度 ..................................................................................10 2.2 機械手的手部結構方案設計 ..................................................................................10 2.3 機械手的手腕結構方案設計 ..................................................................................10 2.4 機械手的手臂結構方案設計 ..................................................................................10 2.5 機械手的驅動方案設計 ..........................................................................................11 2.6 機械手的控制方案設計 ..........................................................................................11 2.7 機械手的主要參數 ..................................................................................................11 2.8 機械手的技術參數列表 ..........................................................................................11 3 手部結構設計 ............................................................................................................14 3.1 夾持式手部結構 ......................................................................................................14 3.1.1 手指的形狀和分類 ..............................................................................................14 3.1.2 設計時考慮的幾個問題 ......................................................................................14 3.1.3 手部夾緊氣缸的設計 ..........................................................................................15 3.2 氣流負壓式吸盤 ......................................................................................................18 4 手腕結構設計 ............................................................................................................21 4.1 手腕的自由度 ..........................................................................................................21 4.2 手腕的驅動力矩的計算 ..........................................................................................21 第 2 頁 共 36 頁 4.2.1 手腕轉動時所需的驅動力矩 ..............................................................................21 5 手臂結構設計 ............................................................................................................25 5.1 手臂伸縮與手腕回轉部分 .....................................................................................25 5.1.1 結構設計 ..............................................................................................................25 5.1.2 導向裝置 ..............................................................................................................26 5.1.3 手臂伸縮驅動力的計 ..........................................................................................26 5.2 手臂升降和回轉部分 .............................................................................................27 5.2.1 結構設計 ..............................................................................................................27 5.3 手臂伸縮氣缸的設計 .............................................................................................28 5.4 手臂伸縮、升降用液壓緩沖器 .............................................................................31 5.5 手臂回轉用液壓緩沖器 .........................................................................................32 6 結論 ............................................................................................................................33 參考文獻 ..........................................................................................................................34 致謝 ..................................................................................................................................36