一种简易搬运机械手的设计

兰州工业高等专科学校毕业论文

目录

1 绪 论 ······································································································································· 1

1.1前言 ·································································································································· 1 1.2 工业机械手的简史 ········································································································· 1 1.3工业机械手在生产中的应用 ·························································································· 2

1.3.1 建造旋转零件（转轴、盘类、环类）自动线 ················································· 3 1.3.2 在实现单机自动化方面 ····················································································· 3 1.3.3 铸、锻、焊热处理等热加工方面 ····································································· 3 1.4 机械手的组成 ················································································································· 3

1.4.1 执行机构 ············································································································· 4 1.4.2 驱动机构 ············································································································· 5 1.4.3 控制系统及其分类 ····························································································· 5 1.5工业机械手的分类 ·········································································································· 5 1.6工业机械手的发展趋势 ·································································································· 6 1.7工业机械手的自由度和座标型式 ·················································································· 7 1.8工业机械手的展望 ·········································································································· 8 1.9本文主要研究内容 ·········································································································· 9 1.10本章小结 ························································································································ 9 2 机械手的总体设计方案 ········································································································· 10

2.1 机械手基本形式的选择 ······························································································· 10 2.2机械手的主要部件及运动 ···························································································· 10 2.3驱动机构的选择 ············································································································ 11 2.4 机械手的技术参数列表 ······························································································· 11 2.5 本章小结 ······················································································································· 12 3 机械手手部的设计计算 ········································································································· 13

3.1 手部设计基本要求 ······································································································· 13 3.2 典型的手部结构 ··········································································································· 13 3.3机械手手抓的设计计算 ································································································ 13

3.3.1选择手抓的类型及夹紧装置 ············································································ 13 3.3.3 夹紧力及驱动力的计算 ··················································································· 15 3.3.4 手抓夹持范围计算 ··························································································· 16 3.4 机械手手抓夹持精度的分析计算 ··············································································· 16 3.5弹簧的设计计算 ············································································································ 18 3.6 本章小结 ······················································································································· 20 4 腕部的设计计算 ····················································································································· 21

4.1 腕部设计的基本要求 ··································································································· 21 4.2 腕部的结构以及选择 ··································································································· 21

4.2.1典型的腕部结构 ································································································ 21 4.2.2 腕部结构和驱动机构的选择 ··········································································· 21 4.3 腕部的设计计算 ··········································································································· 22

4.3.1 腕部设计考虑的参数 ······················································································· 22 4.3.2 腕部的驱动力矩计算 ······················································································· 22

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兰州工业高等专科学校毕业论文

4.3.3 腕部驱动力的计算 ··························································································· 22 4.3.4 液压缸盖螺钉的计算 ······················································································· 24 4.3.5动片和输出轴间的连接螺钉 ············································································ 25 4.4 本章小结 ······················································································································· 26 5 臂部的设计及有关计算 ········································································································· 27

5.1 臂部设计的基本要求 ··································································································· 27 5.2 手臂的典型机构以及结构的选择 ··············································································· 28

5.2.1 手臂的典型运动机构 ······················································································· 28 5.2.2 手臂运动机构的选择 ······················································································· 28 5.3 手臂直线运动的驱动力计算 ······················································································· 28

5.3.1 手臂摩擦力的分析与计算 ··············································································· 28 5.3.2 手臂惯性力的计算 ··························································································· 30 5.3.3 密封装置的摩擦阻力 ······················································································· 30 5.4 液压缸工作压力和结构的确定 ··················································································· 30 5.5 本章小结 ······················································································································· 32 6 机身的设计计算 ····················································································································· 33

6.1 机身的整体设计 ··········································································································· 33 6.2 机身回转机构的设计计算 ··························································································· 33 6.3 机身升降机构的计算 ··································································································· 38

6.3.1 手臂偏重力矩的计算 ······················································································· 38 6.3.2 升降不自锁条件分析计算 ··············································································· 38 6.3.3 手臂做升降运动的液压缸驱动力的计算 ······················································· 39 6.4 轴承的选择分析 ··········································································································· 40 6.5 本章小结 ······················································································································· 40 结 论 ··········································································································································· 41 致 谢 ············································································································································· 42 参考文献 ······································································································································· 43

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