毕业设计（论文）-液压上料机械手结构设计.doc

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摘要

本次设计的是液压上料机械手，在现在的工厂中经常会看到在搬运物料时会消耗大量的人力和时间，并且偶尔会出现安全隐患，所以为了减少人力物力，和增大安全系数进行了此设计。液压上料机械手主要由手爪、手腕、手臂、机身和机座等组成，具备上料、翻转和夹持的功能，并按自动线的统一生产节拍完成以上动作。

此液压上料机械手的机身采用机座式，其坐标形式为圆柱坐标式，具有立柱旋转、手臂伸缩、腕部转动和腕部摆动等4个自由度；驱动方式为液压驱动。液压驱动的优点是压力高、体积小、出力大、动作平缓，并能在中间位置停止。本次设计的上料机械手能对不同物体完成多种动作。

关键词：液压驱动；上料机械手；圆柱坐标式

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Abstract

This?design?is?hydraulic?feeding?manipulator,?in?the?current?factory?will?often?see?in?the?handling?of?materials?will?consume?a?lot?of?manpower?and?time,?and?occasionally?there?will?be?safety?risks,?so?in?order?to?reduce?human?and?material?resources,?and?increase?the?safety?factor?of?this?design.?The?hydraulic?feeding?manipulator?is?mainly?composed?of?claw,?wrist,?arm,?fuselage?and?seat,?which?has?the?functions?of?feeding,?flipping?and?clamping,?and?completes?the?above?actions?according?to?the?unified?production?beat?of?the?automatic?line.

The?fuselage?of?the?hydraulic?feeding?manipulator?adopts?the?seat?type,?and?its?coordinate?form?is?cylindrical?coordinate?type,?which?has?four?degrees?of?freedom,?such?as?the?telescopic?arm?of?the?column?rotating?arm,?the?wrist?rotation?and?the?wrist?swing,?and?the?driving?mode?is?hydraulic?drive.?The?advantages?of?hydraulic?drive?are?high?pressure,?small?volume,?large?output,?smooth?action,?and?can?stop?in?the?middle?position.?The?feeding?manipulator?designed?in?this?paper?can?complete?a?variety?of?actions?on?different?objects.

Keywords:fluid?power?drive；Feeding?manipulator；Cylindrical?coordinate

目录

TOC\o1-3\h\u7028摘要 I

18890Abstract II

7488第1章绪论 1

233171.1液压机械手的发展现状及应用 1

143131.1.1机械手的基本概念 1

159041.1.2液压机械手的发展现状 1

302891.1.3液压机械手的应用 2

1241.2液压机械手的发展趋势及意义 3

35441.2.1液压机械手的主要发展趋势 3

19441.2.2液压机械手的研究意义 4

227361.3课题要达到的设计目的 5

262771.3.1设计目的 5

244781.3.2环保和可持续发展 5

22648第2章液压上料机械手方案设计及可行性论证 7

211462.1液压上料机械手方案设计 7

281572.1.1方案1 7

246382.1.2方案2 7

312932.1.3方案3 8

186802.2液压上料机械手方案可