目 录

摘 要 ·················································Ⅰ ABSTRACT ·············································Ⅱ 第一章 绪论 ············································1

1.1课题背景及目的·········································1 1.2本课题研究的意义······································1 1.3自动上下料机构的组成分类及特点························2

第二章 总体设计方案 ····································3

2.1机械手设计要求········································3 2.2动作要求分析··········································4 2.3机械手的基本形式······································4 2.4机械手材料的选择······································5 2.5自动上下料机构布局拟定································5 2.6驱动方式的选择········································7 2.7 CK6140型数控车床的主要参数····························8

第三章 机械手结构设计 ··································9

3.1手部的设计·············································9 3.1.1手部的概述··········································9 3.1.2机械手部的典型结构··································9 3.1.3手爪设计原则········································12 3.1.4机械式手爪设计······································12 3.1.5手部驱动力计算······································13 3.2臂部的设计············································16 3.2.1手臂的常用机构······································17 3.2.2手臂设计原则········································17 3.2.3臂部驱动力计算······································18 3.3机身的设计············································21 3.3.1机身的整体设计······································21 3.3.2机身回转机构的设计计算······························24

3.3.3机身升降液压缸的设计计算····························26 第四章 机械手的运动分析 ·······························33 4.1液压缸的设计选择······································33 4.2 4.3 4.4

机机机

械械械

手手手

的

的的

整

手臂体

爪部运

的的动

运运分

动····································34 动····································34 析··································34

总结 ···················································36 致谢 ···················································37 参考文献 ···············································38

摘 要

本课题主要进行生产线轴套类零件自动上下料机构设计，该设计属于机械手的一部分，生产线轴套类零件自动上下料机构是在机械化、自动化生产过程中发展的一种新型装置，实现了胚料的抓取、自动定位、夹紧以及工件的回放。机械手能代替人类重复完成枯燥危险的工作，提高劳动生产力，减轻人的劳动强度。该机构涵盖了位置控制技术、可编程序控制技术、检测技术等。本课题设计的液压机械手可在空间抓放物体，动作灵活多样。根据工件的变化及生产技术的要求随时更改相关参数，可代替人工在高温危险区进行作业。

关键词：机械手 轴套类零件自动上下料机构 提升 旋转

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ABSTRACT

This topic mainly production spool and sleeve type parts automatic feeding mechanism design. The design is part of the manipulator, the production spool and sleeve type parts automatic feeding mechanism is the development of mechanization and automation of the production process of a new type of device to achieve the blank to grab, automatic positioning, clamping and workpiece playback. Mechanical hand can replace the human to complete the boring work, improve labor productivity, reduce labor intensity. The organization covers the position control technology, programmable control technology, detection technology, etc.. This topic design of the hydraulic manipulator can grasp the object in space, flexible and diverse movements. According to the change of workpiece and production technology requirements at any time to change the relevant parameters, can be used to replace manual work in the high temperature danger zone.

Key words：mechanical hand, automatic loading and unloading mechanism, lifting, rotation

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