搬运机械手的设计

盐城纺织职业技术学院

搬运机械手设计

目录

中文摘要 ............................................................................................................................................ 4 英文摘要 ............................................................................................................................................ 4 主要符号表 ........................................................................................................................................ 5 一 绪论 .............................................................................................................................................. 6

1.1前言 ...................................................................................................................................... 6 1.2机械手的简史 ...................................................................................................................... 6 1.3机械手在生产中的应用 ...................................................................................................... 7

1.3.1 建造旋转零件（转轴、盘类、环类）自动线 ................................................ 7 1.3.2 在实现单机自动化方面 ..................................................................................... 8 1.3.3 铸、锻、焊热处理等热加工方面 ..................................................................... 8 1.4 机械手的组成 ..................................................................................................................... 8 1.5本文主要研究内容 .............................................................................................................. 9 二 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

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盐城纺织职业技术学院

2.4 机械手的技术参数列表 ................................................................................................... 11 三 机械手手部的设计计算 ............................................................................................................ 12

3.1 概述 ................................................................................................................................... 12 3.2设计时应考虑的问题 ........................................................................................................ 12 3.3驱动力的计算 .................................................................................................................... 12 3.4两支点回转式钳爪的定位误差的分析 ........................................................................... 15 四 腕部的设计计算 ........................................................................................................................ 16

4.1概述 .................................................................................................................................... 16 4.2腕部设计的基本要求 ........................................................................................................ 16 4.3腕部的驱动力矩计算 ........................................................................................................ 16

4.3.1腕部的驱动力的计算 ......................................................................................... 17

五 臂部的设计计算 ........................................................................................................................ 19

5.1 概述 ................................................................................................................................... 19 5.2 设计时要注意的要求 ....................................................................................................... 19 5.3 手臂直线运动的驱动力计算 .......................................................................................... 19

5.3.1 手臂摩擦力的分析与计算 ............................................................................... 20 5.3.2 密封装置的摩擦阻力 ........................................................................................ 22

六 机身的设计计算 ........................................................................................................................ 23

6.1 机身的整体设计 ............................................................................................................. 23

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盐城纺织职业技术学院

6.2 机身回转机构的设计计算 .............................................................................................. 24 6.3 机身升降机构的计算 ....................................................................................................... 28

6.3.1 手臂偏重力矩的计算 ........................................................................................ 28

七 结束语 ........................................................................................................................................ 30 八 参考文献 .................................................................................................................................... 31

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盐城纺织职业技术学院

摘要:

随着工业自动化发展的需要，机械手在工业应用中越来越重要。文章主要叙述了机械手的设计计算过程 。

首先，本文介绍机械手的作用，机械手的组成和分类，说明了自由度和机械手整体座标的形式。同时，本文给出了这台机械手的主要性能规格参量。

文章中介绍了搬运机械手的设计理论与方法。全面详尽的讨论了搬运机械手的手部、腕部、手臂以及机身等主要部件的结构设计。

关键词：机械手；运动仿真；液压传动；液压缸；

Abstract：

The applying of the manipulators are more and more important in the industry, with the development of industrial automation. The paper mainly narrated the design and calculation of light and transfer manipulator.

The first，The paper introduces the function,composing and classification of the manipulator,tells out the free-degree and the form of coordinate.At the same time,the paper gives out the primary specification parameter of this manipulator. This article system elaboration industry manipulator's design theory and method. The comprehensive exhaustive discussion has transported manipulator's hand, the wrist, the arm ，the fuselage and so on ,which the major structural design computation.

Keywords: manipulator; motion simulation; hydraulic power transmission；

Hydraulic cylinder.

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盐城纺织职业技术学院

主要符号表

FN 手指夹紧力 N

D 弹簧中径 mm

D1

弹簧内径 mm

D2 C n M ? M偏 t FQ0 FQ 弹簧外径 弹簧旋绕比 弹簧有效圈数

转动缸的回转力矩 偏重力臂 偏重力矩 螺钉间距 螺钉承受的拉力 工作载荷 5

mm

N?m mm

N?m

mm

N

N

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