立式精锻机自动上料机械手-手臂伸缩机构设计.doc

立式精锻机自动上料机械手——手臂伸缩机构设计 [摘要][关键词] Vertical precision forging machine, automatic feeding manipulator arm telescopic mechanism design [Abstract] The appearance of manipulator is developed the industry technology. When people find that the manufacture by manual labor can not satisfy the demands of the industry produce, so the manipulator was designed to do something dangerous in stead of human. This paper introduces the main function, the structure feature and the composition of automatic feeding manipulator of vertical forging machine in detail. The composition of the mechanical industry machinery includes three parts: the mechanical part, the drive part and the the control part. The mechanical part mainly includes the hand of the manipulator, the arm of the manipulator and the fluctuation and rotation structure of the manipulator. The paper has made the concreted description and analysis on the general design process and the calculated method of the manipulator. Achieves the four-freedoms,route and some other aspects of the manipulator. Regarding the drive part, the author selects the hydraulic drive style,and then carries on the design calculation to the hydraulic system and carries on the design to the hydraulic transmission way, finally choose appropriate hydraulic pressure part, and then define hydraulic system. Through the above parts of designs, the author designs a hydraulic automatic feeding manipulator of vertical forging machine to achieve the design goal. [Keywords] Vertical forging machine； Automatic feeding manipulator；Structure design；Hydraulic drive.  前言 机械手是由执行机构、驱动装置、控制系统和智能系统组成。执行机构包括手部、腕部、臂部和腰部基座部（固定或移动）；驱动装置是起驱动装置；控制系统包括单关节伺服控制器和关节协调及其他信息交换计算机；智能系统包括感觉装置、视觉装置和语言识别装置。它具有三个自由度，功用是确定手部在空间的位置，位置机构可确定操作机的空间工作范围。 机械手是自动化生产过程中使用的一种具有抓取和移动功能的自动化装置。随着自动控制技术的不断发展，机械手的研究及应用也不断更新换代。目前，也发展成为柔性制造系统FMS和柔性制造单位FMC中的一个重要组成部分。把机床设备和机械手共同构成一个柔性加工系统或柔性制造单位，它适用于中、小批量生产，可以节省庞大的工件运输装置，机构紧凑，而且适应性很强。当工件变更时，柔性生产系统很容易改变，有利于企业不断更新适销对路的花色产品，提高生产质量，更好的适应市场竞争的需要