抓取機(jī)械手畢的設(shè)計

1、浙江理工大學(xué) 本科畢業(yè)設(shè)計（論文）題 目 抓取機(jī)械手的設(shè)計 學(xué) 院 專業(yè)班級 姓 名 學(xué) 號 指導(dǎo)教師 系 主 任 學(xué)院院長 年 月 日畢業(yè)設(shè)計誠信聲明我謹(jǐn)在此保證：本人所做的畢業(yè)設(shè)計，凡引用他人的研究成果均已在參考文獻(xiàn)或注釋中列出。設(shè)計說明書與圖紙均由本人獨(dú)立完成，沒有抄襲、剽竊他人已經(jīng)發(fā)表或未發(fā)表的研究成果行為。如出現(xiàn)以上違反知識產(chǎn)權(quán)的情況，本人愿意承擔(dān)相應(yīng)的責(zé)任。 聲明人（簽名）： 年 月 日摘 要在當(dāng)今大規(guī)模制造業(yè)中，企業(yè)為了提高生產(chǎn)效率，保障產(chǎn)品質(zhì)量，普遍重視生產(chǎn)過程的自動化程度，機(jī)械手作為自動化生產(chǎn)線上的重要成員，逐漸被企業(yè)所認(rèn)同并采用。本文簡單的介紹了機(jī)械手的概念，機(jī)械手的組成，

2、機(jī)械手各個部件的整體尺寸設(shè)計，液壓驅(qū)動的特點(diǎn)。 第一， 概括課題研究的意義，對國內(nèi)外機(jī)械手的特點(diǎn)和發(fā)展概況進(jìn)行了綜述，并提出本文的研究內(nèi)容。 第二，明確抓取機(jī)械手的設(shè)計要求，對機(jī)械手進(jìn)行功能結(jié)構(gòu)分析，初步提出設(shè)計方案，簡要說明這些機(jī)構(gòu)中的單元解。最后結(jié)合自己看過和參考的文獻(xiàn)，提出自己的總體設(shè)計方案，確定機(jī)械手的自由度，驅(qū)動方式。 第三，設(shè)計抓取機(jī)械手。明確機(jī)械手的驅(qū)動為液壓驅(qū)動，液壓驅(qū)動元件把壓縮液體的壓力能轉(zhuǎn)換為機(jī)械能，用來驅(qū)動個元件。同時根據(jù)確定的自由度并結(jié)合真正人手的結(jié)構(gòu)和功能設(shè)計出整個機(jī)械手。首先對機(jī)械手抓進(jìn)行設(shè)計，接著設(shè)計出腕部回轉(zhuǎn)液壓缸以及伸縮臂的設(shè)計，設(shè)計這3個機(jī)械手最關(guān)鍵的部位

3、后開始設(shè)計零部件，并利用Pro/E及CAD輔助軟件繪制出零件圖及裝配圖。最后，對抓取機(jī)械手的結(jié)構(gòu)設(shè)計做出總結(jié)，分析機(jī)械手的應(yīng)用前景，指出其中存在的不足。關(guān)鍵詞：機(jī)械手，液壓驅(qū)動，機(jī)械設(shè)計AbstractIn modern's large-scale manufacturing, Enterprises in order to improve production efficiency,and to ensure product quality, Generally value the degree of automation of the production process, Man

4、ipulator as an important member of the automated production line, Gradually recognized by businesses and using. This paper briefly introduces the concept of robot, The composition of the manipulator, The overall size of the design of various components of the robot.Firstly, to summarize the signific

5、ance of the research, reviewed the characteristics and development overview of the robot at home and abroad, and put forward the contents of this article.Secondly,Make sure crawling robot design requirement,Functional structure analysis of the manipulator,The initial proposed design,A brief descript

6、ion of the cell solution in these institutions.Finally, have read and reference literature, put forward their overall design, to determine the degree of freedom of the robot-driven approach.First, the mechanical clutch design,Then design a wrist rotary hydraulic cylinder and the design of the telesc

7、opic boom,Began to design parts in the design of three of the most critical parts to the robot,And the use of Pro/ E and CAD auxiliary software to map out the part drawing and assembly drawing. Thirdly, Designed crawling robot. First gripper design, then design a wrist rotary hydraulic cylinders and

8、 telescopic boom design, the design began to design the most critical parts of these three robotic parts, and the use of Pro / E and CAD auxiliary software to map out the parts drawing and assembly drawing.Clear manipulator driven hydraulic drive, hydraulic drive components to the pressure of the co

9、mpressed liquid can be converted to mechanical energy used to drive a component. Finally, the structural design of the crawling robot summary analysis of the application prospects of the winding machine, pointed out that there's inadequate.Key words: Manipulator; Hydraulic drive; Mechanical Desi

10、gn 目 錄摘 要Abstract第1章 緒論11.1課題研究的目的以及意義11.2 國內(nèi)外機(jī)械手的概況和發(fā)展趨勢21.2.1國內(nèi)外機(jī)械手的概況21.2.2機(jī)械手的發(fā)展趨勢31.3 研究的基本內(nèi)容4第2章 總體方案設(shè)計52.1機(jī)械手設(shè)計的要求52.2總功能分析62.3 總功能的分解72.3.1 總功能分解的依據(jù)72.3.2總功能的分解82.3.3 機(jī)械手總體方案設(shè)計9第3章 機(jī)械手的結(jié)構(gòu)設(shè)計103.1機(jī)械手抓液壓缸的機(jī)構(gòu)設(shè)計103.2腕部回轉(zhuǎn)液壓缸的設(shè)計133.2.1腕部設(shè)計的基本要求133.2.2回轉(zhuǎn)缸驅(qū)動的典型腕部結(jié)構(gòu)133.2.3腕部結(jié)構(gòu)計算143.2.4回轉(zhuǎn)液壓缸所驅(qū)動力矩計算163.2.5回轉(zhuǎn)缸內(nèi)徑D計算183.2.6腕部軸承的選擇193.3 伸縮臂的設(shè)計193.3.1 方案設(shè)計193.3.2伸縮臂機(jī)構(gòu)結(jié)構(gòu)設(shè)計203.