锻机上料机械手三维设计.docVIP

毕业设计说明书 设计题目：锻机上料机械手三维设计 学生姓名： 学 号： 专业班级： 学 部： 指导教师：本设计包含全部说明书及三维图纸和部分CAD图纸QQ229780692 、 摘　　要 本课题是为轴类零件精锻自动线而设计的上料机械手。本文对机械手进行了总体方案的设计，确定了机械手的座标型式，自由度和机械手的技术参数。并分别确定了该机械手的手臂回转机构，手臂的升降机构，夹紧式手部结构以及手部更换装置等、并利用PRO-E绘制了上料机械手升降机构，连接件结构，手臂装配图，手腕结构，手部结构图。并简要的介绍了工业机器人的概念，机械手的组成和分类，机械手的自由度和座标型式等基本知识。 题目的设计要求是该机械手能将轴类零件从一点搬运到另外一点，因此具有回转和升降功能便能满足设计要求。故采用了类似圆柱坐标的型式。具有四个自由度。手臂的回转装置采用了齿轮机构，依靠液压缸的驱动实现了手臂的升降运动。由于工作对象为轴径结构，手部是通过手指伸缩缸，推动杆以及夹紧式手指实现对轴类零件的抓起和放下。更换手部的手指可以抓取不同系列的产品。这样扩大了该机械手的使用范围。由于液压系统具有结构简单，便于维护和维修，自身具有润滑功能等优点，手臂的升降和手指的收缩机构都采用了液压系统。 实践证明，工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，从而提高经济效益。工业生产中经常出现的笨重工件的搬运和长期频繁、单调的操作，采用机械手是非常有效的。在繁重的条件下进行的操作，更显示其优越性，有着广阔的发展前途。 关键词：工业机器人；机械手；液压系统；液压 Abstract This issue is for the automatic processing lines at the extract forging of shaft parts designed for loading manipulator. In this paper, the manipulator of the overall plan for the design, determine the coordinates of the mechanical hand type, freedom and manipulator of technical parameters. Were identified and the manipulator arm of the Rotary, the movements of arms, hand-hold in the structure and the replacement of devices such as hand and use PRO-E drawing of the maps which are lifter parts of loading manipulator, the structure of the connection assembly,the arms Assembly, the structure of the wrist, the structure of the hand, and other parts map. And briefly introduced the concept of industrial robots, robot on the composition and classification, manipulator freedom and coordinates the basic type of knowledge The demand of the subject is that the maniplator can move the shaft from one place to the other place.So it need to have the lifting and revolving function.Using a similar type of cylindrical coordinates. Has four degrees of freedom. The arm of the Rotary installations in the rack gear, hydraulic cylinders on the drive to achieve the movements of the arms . As the objects of their work for the aperture structure, the hand through the fingers stre