12KG下料机械手设计

下料机械手设计

摘要

本文提出了机械手一般由执行机构、驱动系统、控制系统及检测装置三大部分组成，智能机械手还具有感觉系统和智能系统。本篇是按照给定的设计参数，完成了机械手的设计计算，通过计算，确定了机械手夹紧缸和升降缸的活塞直径和活塞行程及回转缸的结构尺寸、按照有关参考资料和设计任务书的要求，完成了机械手的总体布置和设计。根据设计计算的过程，分手部，手臂伸缩，手臂回转，驱动系统，电气系统介绍了12KG 下料机械手设计过程并编写了毕业设计说明书一份。

本设计的目的是利用机械手是模仿人的手部动作，按给定程序、轨迹和要求实现自动抓取、搬运和操作是集机械、电子、控制、计算机、传感器、人工智能等多学科先进技术于一体的现代制造业重要的自动化装备。它特别是在高温、高压、多粉尘、易燃、易爆、放射性等恶劣环境中，以及笨重、单调、频繁的操作中代替人作业，因此获得日益广泛的应用。

关键词：机械手；执行机构；驱动系统；控制系统；电气系统;CAD 制图。

Blanking Manipulator Design

Abstract

The manipulator is the industry robot important constituent, It may be called the industry robot in very many situations. The industry robot is the collection machinery, electronic, thecontrol, the computer, the sensor, the artificial intelligence and soon the multi-disciplinary advanced technology to a body modernmanufacturing industry important automation equipment. The manipulator imitates person's hand movement, according to assignsthe procedure, the path and the request realization automaticallycaptures, the transporting and the operation automatic device. It specially is in the high temperature, the high pressure, the multi-dust, flammable, explosive, radioactive and so on in the adversecircumstance, as well as is unwieldy, monotonously, in the frequentoperation replaces the person work, therefore obtains day by day thewidespread application. The manipulator generally by the implementing agency, the actuationsystem, the control system and the detector set three major part iscomposed, the intelligent manipulator also has the feeling system andthe intelligent system. This is according to the main technical specification and the requestwhich assigns, divides the hand, the arm expands and contracts, thearm rotation, the actuation system, the electrical system introducedthe 8KG yummy treats manipulator designs the process.

Keywords: Manipulator Implementing agency Actuation system Control system Electrical system

目录

摘要...................................................................................................................... I ABSTRACT ............................................................................................................. I I 第一章绪论.. (1)

1.1工业机械手的设计目的 (1)

1.2工业机械手在生产中的作用 (1)

1.3工业机械手的分类 (1)

1.3.1按规格（所搬运的工件重量）分类 (1)

1.3.2按功能分类 (1)

1.3.3按用途分类 (2)

1.4工业机械手的组成 (2)

1.5工业机械手的技术发展方向 (2)

1.6工业机械手的设计的内容 (3)

第二章手部的设计 (4)

2.1手部的功能、分类 (4)

2.2夹钳式手部设计的基本要求 (4)

2.3夹钳式手部的计算与分析 (5)

2.3.1夹紧液压缸的计算 (5)

2.3.2液压缸直径Ｄ的确定 (7)

第三章手臂的设计计算 (8)

3.1手臂作升降运动的液压缸驱动力计算 (8)

3.1.1液压缸活塞的驱动力的计算 (8)

3.2 确定液压缸的结构尺寸 (12)

3.2.1液压缸内径的计算 (12)

3.2.2液压缸壁厚计算 (12)

3.3缸盖螺钉的计算 (13)

第四章手臂回转液压缸的设计计算 (15)

4.1 手臂回转时所需要的驱动力矩 (15)

4.2回转缸内径D的计算 (17)

4.3缸盖联接螺钉和动片联接螺钉计算 (18)

4.3.1缸盖联接螺钉计算 (18)

4.3.2动片与输出轴联接螺钉计算 (19)

4.3.3 花键轴的设计校核 (21)

4.3.4 升降液压缸和回转缸的轴承选择 (24)